Massage machine

Abstract

To improve the massage experience provided by massage machines. [Solution] The massage machine 1 is provided with multiple massage mechanisms 31, 51, each having a pair of treatment points 34, 54 on the left and right sides, arranged along the direction of the user's height. The massage mechanisms 31, 51 include a first massage mechanism 31 positioned relatively above, a second massage mechanism 51 positioned relatively below, and a control means 23 that controls the operation of the first and second massage mechanisms 31, 51. The control means 23 controls the forward and backward drive units 15, 16 to move the treatment points 34 of the first massage mechanism 31 and the treatment points 54 of the second massage mechanism 51 forward or backward with a time difference.

Description

Technical Field

[0001] The present invention relates to a massager.

Background Art

[0002] Conventionally, there is known a massage device provided with an upper unit disposed relatively above and a lower unit disposed relatively below on a backrest portion. The upper unit includes a shoulder unit and a scapula unit, and the lower unit includes a back unit and a waist unit. Further, since the shoulder unit massages by pressing down the treatment element on the shoulder by inflation of an airbag, and the scapula unit massages by pressing up the treatment element on the scapula portion by inflation of an airbag, it is possible to give a massage effect of sandwiching the shoulder portion and the scapula portion with the treatment element of the shoulder unit and the treatment element of the scapula unit (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the massage device described in Patent Document 1 above, for example, looking at the upper unit, the shoulder unit disposed above and the scapula unit disposed below sandwich the treatment portion without changing the relative position, which is a monotonous massage. Therefore, the present invention has been made to solve the above-described problems, and aims to improve the tactile sensation of massage by a massager.

Means for Solving the Problems

[0005] The present invention relates to a massage machine in which a plurality of massage mechanisms having pairs of treatment elements arranged on the left and right sides are provided along the direction of height, wherein the massage mechanism comprises a first massage mechanism positioned relatively above, a second massage mechanism positioned relatively below, and control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms each have a massage drive unit that causes at least one of the following to be performed: a kneading operation in which the pair of treatment elements move closer together or apart, or a tapping operation in which the pair of treatment elements move forward and backward alternately, and a forward / backward drive unit that moves the treatment elements forward and backward in the forward and backward direction relative to the user, wherein the control means controls the forward / backward drive unit to move the treatment elements of the first massage mechanism and the treatment elements of the second massage mechanism forward or backward with a time difference. This configuration allows the first and second massage mechanisms, each capable of performing kneading or tapping motions, to advance or retract at different times, thereby providing a realistic and immersive experience, much like a massage therapist using both hands.

[0006] Furthermore, the present invention relates to a massage machine in which a plurality of massage mechanisms having a pair of treatment elements on the left and right sides are provided along the direction of height, wherein the massage mechanism comprises a first massage mechanism positioned relatively above, a second massage mechanism positioned relatively below, and control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms each have a massage drive unit that causes at least one of the following to be performed: a kneading operation in which the pair of treatment elements move closer together or apart, or a tapping operation in which the pair of treatment elements move forward and backward alternately, and a forward / backward drive unit that moves the treatment elements forward and backward in the forward and backward direction relative to the user, wherein the control means controls the forward / backward drive unit to cause the treatment elements of the first massage mechanism and the treatment elements of the second massage mechanism to move forward or backward at different speeds. This configuration allows the first and second massage mechanisms, each capable of performing kneading or tapping motions, to advance or retract at different speeds, thereby providing a realistic and immersive experience, much like a massage therapist using both hands.

[0007] Furthermore, it is preferable that the control means controls the reciprocating drive unit to advance the treatment element of one of the first and second massage mechanisms, and then advance the treatment element of the other massage mechanism. This configuration allows users to experience a realistic sensation as if a masseuse were sequentially pressing their left and right hands into the area being treated.

[0008] Furthermore, it is preferable that the control means controls the retraction drive unit to retract the treatment element of one of the first and second massage mechanisms, and then retract the treatment element of the other massage mechanism. This configuration allows users to experience a realistic sensation as if a masseuse were sequentially massaging them with their left and right hands.

[0009] Furthermore, it is preferable that the control means controls the drive unit to retract the treatment element of the other massage mechanism in synchronization with the advancement of the treatment element of one of the first and second massage mechanisms. This configuration allows users to experience a realistic sensation as if a masseuse were switching between their left and right hands while performing a massage.

[0010] Furthermore, it is preferable that the control means controls the advance / return drive unit to cause the positions of the treatment elements of the first and second massage mechanisms to be different in the left-right direction, and to move one of the treatment elements of the first or second massage mechanism back from a state in which the treatment elements of the first and second massage mechanisms have been advanced. This configuration allows for a realistic and immersive experience, as if a masseuse were using both hands to massage with their thumbs and other fingers. Furthermore, the treatment area makes strong contact with the extended treatment element, creating a sensation similar to acupressure.

[0011] Furthermore, it is preferable that the control means controls the forward / backward drive unit to cause the other massage mechanism to repeatedly advance and retract the treatment element of one of the first and second massage mechanisms while the treatment element of the other massage mechanism is advanced. This configuration allows users to experience a realistic sensation as if a masseuse were placing one hand on the area being treated while repeatedly applying pressure with the other.

[0012] Furthermore, it is preferable that the control means controls the forward / backward drive unit and the massage drive unit to synchronize the forward or backward movement of the treatment element of at least one of the first and second massage mechanisms with the kneading or tapping operation of the one massage mechanism. This configuration allows users to experience a realistic sensation as if a masseuse were performing kneading or tapping movements while adjusting the pressure.

[0013] Furthermore, it is preferable that the control means controls the forward / backward drive unit and the massage drive unit so as to synchronize the forward or backward movement of the treatment element of at least one of the first and second massage mechanisms with the movement of the pair of treatment elements of the first massage mechanism to bring them closer together. This configuration allows users to experience a realistic sensation as if a masseuse were gripping and pressing or pulling the area being treated.

[0014] Furthermore, it is preferable to have a lifting motor that moves at least one of the first and second massage mechanisms up and down along the height direction, and the control means controls the forward / backward drive unit and the lifting motor to synchronize the advancement and upward or downward movement of the one massage mechanism. This configuration allows users to experience a realistic sensation as if a masseuse were actually pushing up or down on the area being treated.

[0015] Furthermore, the present invention relates to a massage machine in which a plurality of massage mechanisms having pairs of treatment elements on the left and right sides are provided along the direction of height, wherein the massage mechanism comprises a first massage mechanism positioned relatively above, a second massage mechanism positioned relatively below, and control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms each have a massage drive unit that causes at least one of a kneading motion in which the pair of treatment elements move closer together or apart, or a tapping motion in which the pair of treatment elements move forward and backward alternately, and a forward / backward drive unit that moves the treatment elements forward and backward relative to the user, wherein the control means controls the forward / backward drive unit to advance the treatment elements of the second massage mechanism when the first massage mechanism is positioned on the shoulders and the second massage mechanism is positioned on the waist. This configuration allows the upper body to be arched backward, enabling the treatment element of the first massage mechanism to be firmly pressed against the shoulder.

[0016] Furthermore, the present invention relates to a massage machine in which a plurality of massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of height, wherein the massage mechanism comprises a first massage mechanism positioned relatively above, a second massage mechanism positioned relatively below, and control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms each have a massage drive unit that causes at least one of the following to perform: a kneading motion in which the pair of treatment elements move closer together or apart, or a tapping motion in which the pair of treatment elements move forward and backward alternately, and a lifting motor that raises and lowers at least one of the first and second massage mechanisms along the direction of height, and the control means controls the massage drive unit and the lifting motor to cause one of the massage mechanisms to perform the kneading motion or the tapping motion, and to raise or lower the other massage mechanism along the direction of height. This configuration allows users to experience a realistic sensation as if a masseuse were stroking or stretching the body with one hand while kneading or tapping the area being treated with the other.

[0017] Furthermore, the present invention relates to a massage machine in which a plurality of massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of height, wherein the massage mechanism comprises a first massage mechanism positioned relatively above, a second massage mechanism positioned relatively below, and control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms each have a massage drive unit that causes at least one of the following to be performed: a kneading motion in which the pair of treatment elements move closer together or further apart, or a tapping motion in which the pair of treatment elements move forward and backward alternately, and a lifting motor that raises and lowers at least one of the first and second massage mechanisms along the direction of height, and the control means controls the massage drive unit and the lifting motor to raise or lower the other massage mechanism along the direction of height while the pair of treatment elements of one massage mechanism are brought close together to grip the part to be treated. This configuration allows users to experience a realistic sensation as if a masseuse were using one hand to hold the body still while the other hand stroked and stretched the area being treated.

[0018] Furthermore, the present invention relates to a massage machine in which a plurality of massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of height, wherein the massage mechanism comprises a first massage mechanism positioned relatively above, a second massage mechanism positioned relatively below, and control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms each have a massage drive unit that causes at least one of the following to perform: a kneading motion in which the pair of treatment elements move closer together or further apart, or a tapping motion in which the pair of treatment elements move forward and backward alternately, and each has a lifting motor that raises at least one of the first and second massage mechanisms along the direction of height, wherein the control means controls the lifting motor to raise the second massage mechanism along the direction of height when the first massage mechanism is positioned on the shoulder. This configuration allows the treatment element of the first massage mechanism to be brought into firm contact with the shoulder.

[0019] Furthermore, the present invention relates to a massage machine in which a plurality of massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of height, wherein the massage mechanism comprises a first massage mechanism positioned relatively above, a second massage mechanism positioned relatively below, and control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms each have a reciprocating drive unit that moves the treatment elements forward and backward relative to the user, and a lifting motor that raises and lowers the first and second massage mechanisms along the direction of height, and the control means controls the lifting motor and the reciprocating drive unit to synchronize the movement of the first and second massage mechanisms toward each other along the direction of height and the advancement of the treatment elements of the first and second massage mechanisms. This configuration allows you to straighten your spine while arching your upper body.

[0020] Further, the present invention provides a massage machine having a plurality of massage mechanisms each having a pair of treatment elements on the left and right sides along the height direction of a user. The massage mechanism includes a first massage mechanism disposed relatively above, a second massage mechanism disposed relatively below, and control means for controlling the operations of the first and second massage mechanisms. The first and second massage mechanisms each have a forward and backward drive unit for moving the treatment elements forward and backward with respect to the user, and a lifting motor for lifting and lowering the first and second massage mechanisms along the height direction. The control means controls the lifting motor and the forward and backward drive unit so as to synchronize the movement of the first and second massage mechanisms away from each other along the height direction with the protrusion of the treatment elements of the first and second massage mechanisms. With such a configuration, it is possible to stretch the upper body while curving it.

[0021] In addition, the present invention provides a massage machine having a plurality of massage mechanisms each having a pair of treatment elements on the left and right sides along the height direction of a backrest portion on which a user leans. The massage mechanism includes a first massage mechanism disposed relatively above, a second massage mechanism disposed relatively below, and control means for controlling the operations of the first and second massage mechanisms. The first and second massage mechanisms each have a massage drive unit for causing at least one of a kneading operation in which the pair of treatment elements approach or separate from each other, or a tapping operation in which the pair of treatment elements alternately move forward and backward. The control means controls the massage drive unit so that one massage mechanism performs the kneading operation or a clamping operation by bringing the pair of treatment elements close to each other, and simultaneously the other massage mechanism performs an operation including the tapping operation. With such a configuration, it is possible to give a feeling as if different types of massages are being performed on the upper body by two or more masseurs.

[0022] Furthermore, the present invention relates to a massage machine in which a plurality of massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of height, wherein the massage mechanism comprises a first massage mechanism positioned relatively above, a second massage mechanism positioned relatively below, and control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms each have a massage drive unit that causes the pair of treatment elements to move closer together or further apart, and the control means controls the massage drive unit to cause the first and second massage mechanisms to perform the kneading operation at different speeds. With this configuration, when the first and second massage mechanisms perform kneading motions continuously, the kneading motions from the upper first massage mechanism and the lower second massage mechanism can be changed over time, thereby enhancing the massage effect.

[0023] Furthermore, it is preferable to perform the kneading action using the treatment elements of the first and second massage mechanisms while the first massage mechanism and the second massage mechanism, or the treatment element of the first massage mechanism and the treatment element of the second massage mechanism, are in close proximity in the vertical direction. This configuration allows users to more effectively experience kneading movements from both the upper first massage mechanism and the lower second massage mechanism, which work together to create a more tactile massage.

[0024] Furthermore, the present invention relates to a massage machine having a seat on which a user sits, a backrest provided at the rear of the seat so as to be reclined for the user to lean against, and a plurality of massage mechanisms having a pair of therapeutic elements on the left and right sides, arranged along the direction of the user's height, wherein the massage mechanism comprises a first massage mechanism positioned relatively above, a second massage mechanism positioned relatively below, and control means for controlling the operation of the first and second massage mechanisms and the reclining operation of the backrest, wherein the control means causes the operation of grasping the neck with the therapeutic element of the first massage mechanism, the operation of pressing the waist with the therapeutic element of the second massage mechanism, and the operation of reclining the backrest backward to perform synchronized operations. This configuration prevents the upper body from shifting relative to the backrest when the backrest reclines, as the neck is supported, allowing the upper body to be effectively arched.

[0025] Furthermore, the seat has a footrest that is provided at the front of the seat so as to be able to swing up and down to support the user's lower limbs, and the footrest has a first pressing and holding means for pressing or holding the user's lower limbs, and it is preferable that the control means synchronizes the operation of holding the lower limbs with the first pressing and holding means and the operation of lowering the footrest in the synchronized operation. This configuration allows for effective stretching of the entire body.

[0026] The device has a second pressing and holding means for pressing or holding the user's upper arm or shoulder, and it is preferable that the control means synchronizes the action of holding the upper arm or shoulder by the second pressing and holding means with the synchronized action. This configuration prevents the upper body from shifting relative to the backrest when the backrest reclines, as the upper arms or shoulders support the backrest, allowing the upper body to be effectively arched. [Effects of the Invention]

[0027] According to the present invention, the sensation of massage can be improved. [Brief explanation of the drawing]

[0028] [Figure 1] This is a perspective view of a massage machine according to one embodiment of the present invention. [Figure 2] This is a functional block diagram of a massage machine. [Figure 3] This is a front view of the backrest. [Figure 4] This is a perspective view of the first massage unit. [Figure 5] This is a perspective view of the first massage unit with some components omitted. [Figure 6] This is a front view of the first massage unit. [Figure 7] This is a side view of the first massage unit, showing the first massage mechanism in a retracted position. [Figure 8] This is a side view of the first massage unit, showing the first massage mechanism in its extended position. [Figure 9] This is a front view of the kneading shaft and the beating shaft. [Figure 10] This is a perspective view of the second massage unit. [Figure 11] This is a perspective view of the second massage unit with some components omitted. [Figure 12] This is a front view of the second massage unit. [Figure 13] This is a side view of the second massage unit, showing the second massage mechanism in a retracted position. [Figure 14] This is a side view of the second massage unit, showing the second massage mechanism in its extended position. [Figure 15] This is a perspective view of the arm of the second massage unit. [Figure 16] This is a diagram illustrating the kneading motion. [Figure 17] This is a diagram illustrating the kneading motion. [Figure 18] This is a diagram illustrating the kneading motion. [Figure 19] This is a diagram illustrating the kneading motion. [Figure 20] This is a flowchart of operation 1. [Figure 21] This is an explanatory diagram for operation 1. [Figure 22] This is a flowchart of operations 2 and 3. [Figure 23] This is an explanatory diagram for operations 2 and 3. [Figure 24] This is an explanatory diagram for operation 4. [Figure 25] This is an explanatory diagram for operation 5. [Figure 26] This is an explanatory diagram for operation 6. [Figure 27] This is an explanatory diagram for operation 7. [Figure 28] This is an explanatory diagram for operation 8. [Figure 29] This is a flowchart of operations 9 and 10. [Figure 30] This is a front view of a massage unit according to another embodiment. [Figure 31] This is a front view of a massage mechanism according to another embodiment. [Figure 32] This is an explanatory diagram of the link in another embodiment. [Figure 33] This is an explanatory diagram of a sensor according to another embodiment. [Figure 34] This is a flowchart of operation 11. [Figure 35] This is an explanatory diagram for operation A. [Figure 36] This is an explanatory diagram for operation B. [Figure 37] This is an explanatory diagram for operation C. [Figure 38] This is an explanatory diagram for operation D. [Figure 39] This is an explanatory diagram for operation E. [Figure 40] This is an explanatory diagram of operation F. [Figure 41] This is an explanatory diagram of operation a. [Figure 42] This is an explanatory diagram for operation b. [Figure 43] This is an explanatory diagram of operation c. [Figure 44] This is an explanatory diagram of operation d. [Figure 45]This is an explanatory diagram of operation e. [Figure 46] This is an explanatory diagram of operation f. [Figure 47] This is an explanatory diagram of operation g. [Figure 48] This is an explanatory diagram of operation h. [Figure 49] This is an explanatory diagram of operation i. [Figure 50] This is an explanatory diagram of the operation. [Modes for carrying out the invention]

[0029] [Overall structure] The overall configuration of the massage machine 1 of the present invention will be described below. Figure 1 is a perspective view of the massage machine 1 according to one embodiment of the present invention. Figure 2 is a functional block diagram of the massage machine 1. Figure 3 is a front view of the backrest 3. The concept of direction used in the following description shall be the same as the concept of direction as seen from the perspective of a user seated in the standing position of the massage machine 1 shown in Figure 1, and other cases shall be explained as appropriate.

[0030] As shown in Figure 1, the massage machine 1 of the present invention mainly comprises a seat 2 on which the user sits, a backrest 3 on which the user leans, which is reclined and provided at the rear of the seat 2, a footrest 4 on the front of the seat 2 which is vertically swingable and supports the user's legs and feet, armrests 5 on both the left and right sides of the seat 2 on which the user rests their arms, a pillow 6 provided on the upper part of the backrest 3 to support the user's head, and a leg frame 7 which supports the seat 2 and is placed on the floor. The backrest 3 is provided with a plurality of massage units 8 and 9 aligned in the direction of the user's height to massage the user's upper body from behind.

[0031] Furthermore, the sides of the backrest 3 are provided with air cells 10 that press or hold the upper arm or shoulder from the left and right directions. The seat 2 is provided with air cells 11 that press the user's buttocks or thighs from below, and air cells 12 that press or hold the buttocks or thighs from the left and right directions. The footrest 4 is provided with air cells 13 that press or hold the user's legs and feet from the left and right directions. The armrest 5 is provided with air cells 14 that press or hold the forearms from above and below. These air cells 10 to 14 expand and contract by the supply and exhaust of air from an air unit 20 (see Figure 2) consisting of a pump and valves, etc., located below the seat.

[0032] As shown in Figures 1 and 2, the backrest 3 is configured to recline in the front-to-back direction relative to the seat 2 by an actuator 21 located below the seat 2, and can be stopped at any position between the upright position shown in Figure 1 and the reclined position where the backrest surface is approximately horizontal to the floor. The armrests 5 are configured to move backward in conjunction with the reclining of the backrest 3 and forward in conjunction with the upright position of the backrest 3. The footrest 4 is configured to swing vertically relative to the seat 2 by an actuator 22 located below the seat 2, and can be stopped at any position between the hanging position shown in Figure 1 and the raised position where the legs and feet are supported with the knees extended.

[0033] As shown in Figure 2, below the seat 2, an air unit 20 is provided, consisting of a pump and valves for supplying and exhausting air to each of the air cells 10-14 and the retractable air cells 15 and 16, which will be described later. Preferably, the air unit 20 is configured to maintain each of the air cells 10-14 and the retractable air cells 15 and 16 at an arbitrary amount of inflation, in which case the amount of inflation of each of the air cells 10-14 and the retractable air cells 15 and 16 can be adjusted. In addition, the massage machine 1 is provided with a control means 23 consisting of a programmable microcontroller or the like, which is configured to control the operation of the massage units 8 and 9, the air unit 20, and the actuators 21 and 22 according to instructions from the user via an operating device 27 or a predetermined program.

[0034] The control means 23 includes a main control unit 24 located below the seat 2 that controls the operation of the massage units 8 and 9, the air unit 20, and the actuators 21 and 22, and sub-control units 25 and 26 located on the massage units 8 and 9 that control their raising and lowering. The control means 23 also stores multiple massage courses that automatically operate at least one of the massage units 8 and 9, the air unit 20, and the actuators 21 and 22 according to a predetermined program. When the user selects a desired massage course, various operations are performed automatically until the set course time has elapsed.

[0035] [Structure of the backrest] As shown in Figures 1 and 3, the backrest 3 consists of a back frame 3a made of resin or the like, formed in a gate shape when viewed from the front; a guide mechanism 3b that guides the raising and lowering of massage units 8 and 9 assembled to the back frame 3a; and a cushioning back pad 3c positioned on the front side of the back frame 3a. The guide mechanism 3b extends along the direction of height, and is curved so that its upper and lower parts are located in front of the middle (see Figure 21). A rack is formed on the front side, and a rail is formed on the rear side. Multiple massage units 8 and 9 are supported by this guide mechanism 3b so that they can be raised and lowered.

[0036] [Massage Unit Configuration] The configuration of massage units 8 and 9 will be described below. Figure 4 is a perspective view of the first massage unit 8. Figure 5 is a perspective view of the first massage unit 8 with some components omitted. Figure 6 is a front view of the first massage unit 8. Figure 7 is a side view of the first massage unit 8, showing the first massage mechanism 31 in a retracted state. Figure 8 is a side view of the first massage unit 8, showing the first massage mechanism 31 in an extended state. Figure 9 is a front view of the kneading shaft 41 shown in (a) and the tapping shaft 42 shown in (b). Figure 10 is a perspective view of the second massage unit 9. Figure 11 is a perspective view of the second massage unit 9 with some components omitted. Figure 12 is a front view of the second massage unit 9. Figure 13 is a side view of the second massage unit 9, showing the second massage mechanism 51 in a retracted state. Figure 14 is a side view of the second massage unit 9, showing the second massage mechanism 51 in an extended state. Figure 15 is a perspective view of the arm 60 of the second massage unit 9.

[0037] As shown in Figures 3 to 15, multiple massage units 8 and 9 are provided in the direction of height. In this embodiment, a first massage unit 8 is positioned relatively above the backrest 3, and a second massage unit 9 is positioned relatively below it. Each massage unit 8 and 9 mainly consists of a main frame 30 and 50 supported so as to be able to move up and down by a guide mechanism 3b, a massage mechanism 31 and 51 having a treatment element 34 and 54, a support frame 32 and 52 that supports the massage mechanism 31 and 51, a reciprocating drive unit 15 and 16 that moves the massage mechanism 31 and 51 forward and backward relative to the part being treated, and a link 33 and 53 that connects the main frame 30 and 50 and the support frame 32 and 52 and swings in the front-rear direction.

[0038] The configuration of the upper first massage unit 8 will be described in detail below. As shown in Figures 4 to 8, the main frame 30 is constructed in a box shape with an open front, comprising a rear wall 30a, side walls 30b erected from both the left and right sides of the rear wall 30a, a bottom wall 30c erected from the lower part of the rear wall 30a, and an upper wall 30d erected from the upper part of the rear wall 30a. Inside the upper part of the main frame 30 is a lifting mechanism consisting of a lifting motor 35 for raising and lowering the first massage unit 8, a lifting shaft 36 extending in the left and right directions, and a reduction gear 37 that reduces the rotation of the lifting motor 35 and transmits it to the lifting shaft 36. The lifting shaft 36 is rotatably supported by both side walls 30b. Guide rollers 38 and pinions 39 attached to the lifting shaft 36 are provided at the top of the side walls 30b, and guide rollers 38 and pinions 39 are provided at the bottom. The guide mechanism 3b is held between the pinion 39 and the guide roller 38, and when the lifting motor 35 is driven, the first massage unit 8 can be raised and lowered along the direction of height. Because the lifting mechanism is located on the upper part of the first massage unit 8, the treatment element 34 can be brought close to the treatment element 54 (upper treatment element 54a) of the second massage mechanism 51.

[0039] The first massage mechanism 31 includes a pair of arms 40, one on the left and one on the right, which support a treatment element 34 at their tips, and a drive mechanism that drives the arms 40 to perform massage. This drive mechanism includes a kneading shaft 41 that supports the arms 40 and moves the pair of treatment elements 34 closer together and further apart in the left-right direction to perform kneading; a tapping shaft 42 that moves the pair of treatment elements 34 back and forth alternately to perform tapping; a massage motor 43 as a massage drive unit that drives the kneading shaft 41 and the tapping shaft 42; and a speed reducer 44 that reduces the rotation of the massage motor 43 and transmits it to the kneading shaft 41 and the tapping shaft 42. The drive mechanism is supported by a box-shaped frame 45. In this embodiment, the treatment element 34 of the first massage unit 8 is single in the vertical direction.

[0040] As shown in Figure 9(a), the kneading shaft 41 extends in the left-right direction, and inclined shafts 41a are provided on both the left and right sides, tilted with respect to its axis 41b. The arm 40 is rotatably attached to the inclined shafts 41a via bearings. The left and right inclined shafts 41a are not parallel to each other, but are tilted so as to form a roughly V-shape when viewed from the front. The kneading shaft 41 is also equipped with a width sensor 46 for detecting the distance between a pair of treatment elements 34. As shown in Figure 9(b), the tapping shaft 42 extends in the left-right direction, and eccentric shafts 42a are provided on both the left and right sides, eccentric with respect to its axis 42b. As shown in Figure 5, a connecting member 47 that connects the rear of the tapping shaft 42 and the arm 40 is rotatably attached to the eccentric shaft 42a via bearings. The left and right eccentric shafts 42a have different phases around the axis 42b of the tapping shaft 42.

[0041] When the kneading shaft 41 rotates, the arms 40 rotate three-dimensionally while their rotation around the kneading shaft 41 is restricted by the connecting member 47. That is, as shown in Figure 16, when the kneading shaft 41 rotates continuously in one direction, the treatment element 34 moves in a loop-shaped trajectory having at least left-right and up-down components, and the left and right pair of treatment elements 34 move in the left-right direction, approaching and moving away from each other. In this way, the kneading operation is performed. On the other hand, when the tapping shaft 42 rotates, the up-and-down movement of the connecting member 47 causes the pair of arms 40 to alternately advance and retract around the kneading shaft 41 as a pivot point. In this way, the tapping operation is performed. In this embodiment, a clutch is provided on the tapping shaft 42, and the kneading operation / kneading and tapping operation can be switched by reversing the forward and reverse directions of a single massage motor 43, but it is also possible to provide separate massage motors 43 so that the kneading operation and the tapping operation can be performed independently.

[0042] The support frame 32 has a plate surface in the front-rear direction, and the first massage mechanism 31 is supported by the frame 45 fixed to its front side. Between the main frame 30 and the support frame 32, there is an air cell 15 which expands and contracts due to the supply and exhaust of air from the air unit 20, and acts as a reciprocating drive unit that moves the first massage mechanism 31 forward and backward relative to the area being treated. In addition, a link 33 is provided on the side of the support frame 32 that connects the main frame 30 and the support frame 32 and swings in the front-rear direction. The reason for placing the link 33 on the side of the support frame 32 is that it reduces the thickness of the massage unit 8 in the front-rear direction compared to when it is placed behind the support frame 32. This link 33 is arranged in parallel in the front-rear direction and has a first link section 33a which is positioned relatively to the rear and a second link section 33b which is positioned relatively to the front. In other words, the link 33 constitutes a four-bar linkage mechanism.

[0043] As shown in Figures 7 and 8, the lengths of the first link section 33a and the second link section 33b are different. Specifically, the length of the first link section 33a is set to be shorter than the length of the second link section 33b. The upper part of the first link section 33a is pivotally supported on the side wall 30b of the main frame 30 via a pivot A1 near the lifting shaft 36, and the lower part is pivotally supported on the upper part of the support frame 32 via a pivot A2. The upper part of the second link section 33b is pivotally supported on the side wall 30b of the main frame 30 via a pivot A3 near the lifting shaft 36, and the lower part is pivotally supported on the lower part of the support frame 32 via a pivot A4. The pivot A1 of the first link section 33a is located slightly rearward than the pivot A3 of the second link section 33b. The first link section 33a and the second link section 33b are guided in their movement by the fitting of their pivots A2 and A4 into downwardly convex arc-shaped guide sections 30e and 30f (see Figure 4) provided on the side wall 30b. Furthermore, as shown in Figures 7 and 8, a reinforcing section 48 is provided to connect and reinforce the first link section 33a and the second link section 33b at the connection point with the main frame 30. In this way, the vicinity of the pivot axes A1 and A3 of the load-bearing link 33 can be reinforced by the lifting shaft 36 and the reinforcing section 48.

[0044] In the first massage mechanism 31, when it is in its most retracted position, the link 33 is positioned forward of the connection point with the main frame 30 compared to the connection point with the support frame 32. Specifically, the first link section 33a has its pivot axis A1 positioned forward of the pivot axis A2, and the second link section 33b has its pivot axis A3 positioned forward of the pivot axis A4. Therefore, when the retractable air cell 15 inflates, the link 33 swings along a downward-convex arc-shaped trajectory, allowing the first massage mechanism 31 to move forward and backward along a trajectory nearly parallel to the direction opposite to the area being treated. Furthermore, because a four-bar linkage mechanism is employed, when the retractable air cell 15 inflates from the first massage mechanism 31's most retracted position, the first link section 33a swings forward around the pivot axis A1. However, because the support frame 32 is pivotally supported by the second link section 33b, which is longer than the first link section 33a, in front of and below the pivot A2 of the first link section 33a, the oscillation of the first massage mechanism 31 is suppressed, and it can move back and forth in a trajectory that is closer to parallel to the direction facing the area being treated.

[0045] Furthermore, because the lengths of the first link portion 33a and the second link portion 33b are different, even if the first link portion 33a and the second link portion 33b are placed close together in the front-rear direction, a sufficient extension amount of the first massage mechanism 31 can be secured, and the thickness of the first massage unit 8 in the front-rear direction can be reduced. In addition, because the length of the first link 33a, which is positioned at the rear, is relatively short, a sufficient amount of movement in the front-rear direction can be obtained immediately after the start of extension, starting from the most retracted state of the first massage mechanism 31. Moreover, during the process of extending the first massage mechanism 31, the first link portion 33a comes into contact with the second link portion 33b from the rear, thereby restricting the extension of the first massage mechanism 31 at a predetermined front-rear position. In other words, since the second link portion 33b functions as a stopper, there is no need to provide a separate stopper, and the number of parts can be reduced.

[0046] The configuration of the lower second massage unit 9 will be described in detail below. As shown in Figures 9 to 15, the main frame 50 is constructed in a box shape with an open front, comprising a rear wall 50a, side walls 50b erected from both the left and right sides of the rear wall 50a, a bottom wall 50c erected from the lower part of the rear wall 50a, and an upper wall 50d erected from the upper part of the rear wall 50a. Inside the lower part of the main frame 50 is a lifting mechanism consisting of a lifting motor 55 for raising and lowering the second massage unit 9, a lifting shaft 56 extending in the left and right directions, and a reduction gear 57 that reduces the rotation of the lifting motor 55 and transmits it to the lifting shaft 56. The lifting shaft 56 is rotatably supported by both side walls 56b. The side walls 56b are provided with a guide roller 58 and a pinion 59 attached to the lifting shaft 56 at the top, and a guide roller 58 and a pinion 59 attached to the lifting shaft 56 at the bottom. The guide mechanism 3b is held between the pinion 59 and the guide roller 58, and when the lifting motor 55 is driven, the second massage unit 9 can move up and down along the direction of height. Because the lifting mechanism is located at the bottom of the second massage unit 9, the treatment element 54 (upper treatment element 54a) can be brought close to the treatment element 34 of the first massage mechanism 31.

[0047] The second massage mechanism 51 has a pair of arms 60, one on the left and one on the right, that support the treatment elements 54 at their tips, and a drive mechanism that drives the arms 60 to perform massage. This drive mechanism has a kneading shaft 61 that supports the arms 60 and moves the pair of treatment elements 54 closer together and further apart in the left and right directions to perform a kneading motion, a massage motor 63 as a massage drive unit that drives the kneading shaft 61, and a reduction gear 64 that reduces the rotation of the massage motor 63 and transmits it to the kneading shaft 61. The drive mechanism is supported by a box-shaped frame 65. The arms 60 are formed in a V-shape when viewed from the side, with a relatively large-diameter upper treatment element 54a provided at the upper end and a relatively small-diameter lower treatment element 54b provided at the lower end. In other words, unlike the first massage unit 8, there are two treatment elements 54 in the vertical direction.

[0048] As shown in Figure 9(a), the kneading shaft 61 has the same configuration as the kneading shaft 41 of the first massage mechanism 31, extends in the left-right direction, and is provided with inclined shafts 61a on both the left and right sides that are inclined with respect to its axis 61b. The arm 60 is rotatably attached to the inclined shafts 61a via bearings. The left and right inclined shafts 61a are not parallel to each other, but are inclined to form approximately a V shape when viewed from the front. As shown in Figure 15, a connecting member 67 with a ball joint at its rear end is provided behind the arm 60 to connect the arm 60 to the support frame 52. A groove 69 is provided on the front side of the support frame 52 that runs in the left-right direction, and the ball joint of the connecting member 67 fits into the groove 69. The kneading shaft 61 is also provided with a width sensor 66 that detects the distance between a pair of massage elements 54.

[0049] As the kneading shaft 61 rotates, the arm 60 rotates three-dimensionally while its rotation around the kneading shaft 61 is restricted by the connecting member 67. That is, as shown in Figure 16, when the kneading shaft 61 is continuously rotated in one direction, the treatment element 54 moves in a loop-shaped trajectory having at least left-right and up-down components. Also, the left and right pair of treatment elements 54 move in the left-right direction, with the lower treatment element 54b moving away when the upper treatment element 54a approaches, and the lower treatment element 54b approaching when the upper treatment element 54a moves away. The kneading operation is performed in this manner. In this embodiment, the second massage mechanism 51 is configured to perform only kneading operations, but it may also be configured to perform tapping operations, similar to the first massage mechanism 31.

[0050] The support frame 52 has a plate surface in the front-rear direction, and the second massage mechanism 51 is supported by the frame 65 fixed to its front side. Between the main frame 50 and the support frame 52, there is an air cell 16 which expands and contracts due to the supply and exhaust of air from the air unit 20, and acts as a reciprocating drive unit that moves the second massage mechanism 51 forward and backward relative to the area being treated. In addition, a link 53 is provided on the side of the support frame 52 that connects the main frame 50 and the support frame 52 and swings in the front-rear direction. This link 53 is arranged in parallel in the front-rear direction and has a first link section 53a located relatively to the rear and a second link section 53b located relatively to the front. In other words, the link constitutes a four-bar linkage mechanism.

[0051] The lengths of the first link section 53a and the second link section 53b are different; specifically, the length of the first link section 53a is set to be shorter than the length of the second link section 53b. The lower part of the first link section 53a is pivotally supported to the side wall 50b of the main frame 50 via a pivot A5 near the lifting shaft 56, and the upper part is pivotally supported to the lower part of the support frame 52 via a pivot A6. The lower part of the second link section 53b is pivotally supported to the side wall 50b of the main frame 50 via a pivot A7 near the lifting shaft 56, and the upper part is pivotally supported to the upper part of the support frame 52 via a pivot A8. The pivot A5 of the first link section 53a is located slightly rearward than the pivot A7 of the second link section 53b. The first link section 53a and the second link section 53b are guided in their movement by the fitting of their pivots A6 and A8 into upwardly convex arc-shaped guide sections 50e and 50f (see Figure 10) provided on the side wall 50b. Furthermore, as shown in Figures 13 and 14, a reinforcing section 68 is provided to connect and reinforce the first link section 53a and the second link section 53b at the connection point with the main frame 50. In this way, the vicinity of the pivot axes A5 and A7 of the load-bearing link 53 can be reinforced by the lifting shaft 56 and the reinforcing section 68.

[0052] In the second massage mechanism 51, when it is in its most retracted position, the link 53 is positioned forward of the connection point with the main frame 50 compared to the connection point with the support frame 62. Specifically, the first link section 53a has its pivot axis A5 positioned forward of the pivot A6, and the second link section 53b has its pivot axis A7 positioned forward of the pivot A8. Therefore, when the retractable air cell 16 inflates, the link 53 swings along an upward-convex arc-shaped trajectory, allowing the second massage mechanism 51 to move forward and backward along a trajectory nearly parallel to the direction opposite to the area being treated. Furthermore, because a four-bar linkage mechanism is employed, when the retractable air cell 16 inflates from the second massage mechanism 51's most retracted position, the first link section 53a swings forward around the pivot axis A5. However, because the support frame 52 is pivotally supported by the second link section 53b, which is longer than the first link section 53a, in front of and above the pivot A6 of the first link section 53a, the oscillation of the second massage mechanism 51 is suppressed, and it can move back and forth in a trajectory that is closer to parallel to the direction facing the area being treated.

[0053] Furthermore, because the lengths of the first link portion 53a and the second link portion 53b are different, even if the first link portion 53a and the second link portion 53b are placed close together in the front-rear direction, a sufficient extension amount of the second massage mechanism 51 can be secured, and the thickness of the second massage unit 9 in the front-rear direction can be reduced. In addition, because the length of the first link 53a, which is positioned at the rear, is relatively short, a sufficient amount of movement in the front-rear direction can be obtained immediately after the start of extension, starting from the most retracted state of the second massage mechanism 51. Moreover, during the process of extending the second massage mechanism 51, the first link portion 53a comes into contact with the second link portion 53b from the rear, thereby restricting the extension of the second massage mechanism 51 at a predetermined front-rear position. In other words, since the second link portion 53b functions as a stopper, there is no need to provide a separate stopper, and the number of parts can be reduced.

[0054] [Sensor Configuration] As shown in Figure 2, the massage machine 1 has a sensor 70 that detects the relative position of the first massage unit 8 and the second massage unit 9. The sensor 70 will be described in detail below.

[0055] As shown in Figure 4, the bottom wall 30c of the first massage unit 8 is provided with a magnet holder 73 on one side in the left-right direction, and a first sensor unit 71 for detecting the proximity of the magnet and a sub-control unit 25 (see Figure 2) electrically connected to the first sensor unit 71 are provided on the other side in the left-right direction. On the other hand, as shown in Figure 10, the top wall 50d of the second massage unit 9 is provided with a second sensor unit 72 for detecting the proximity of the magnet and a sub-control unit 26 (see Figure 2) electrically connected to the second sensor unit 72 on one side in the left-right direction, and a magnet holder 74 with a magnet attached is provided on the other side in the left-right direction. The sub-control units 25 and 26 are electrically connected to the lifting motors 35 and 55, respectively, and can control the lifting and lowering of each massage unit 8 and 9. They are also electrically connected to the main control unit 24.

[0056] The first sensor unit 71 is positioned approximately perpendicular to the vertical direction of the magnet holder 74 provided on the second massage unit 9, and can detect the proximity of the second massage unit 9 to the first massage unit 8. On the other hand, the second sensor unit 72 is positioned approximately perpendicular to the vertical direction of the magnet holder 73 provided on the first massage unit 8, and can detect the proximity of the first massage unit 8 to the second massage unit 9. In other words, the sensor 70 is a non-contact type sensor composed of the first sensor unit 71 and the second sensor unit 72. As described above, each massage unit 8, 9 detects the proximity of the other massage unit 9, 8, and their respective sub-control units 25, 26 control the lifting motors 33, 55, thereby increasing the accuracy of collision prevention.

[0057] Furthermore, it is preferable that the sensor 70 can detect the distance between the first massage unit 8 and the second massage unit 9 in multiple stages as their relative positions. For example, it is sufficient to be able to detect two states: a "proximity state" where the distance between the two massage units 8 and 9 is within a predetermined distance, and a "pre-proximity state" where they are slightly further apart than the proximity state. This expands the detection range of the relative positions of the first massage unit 8 and the second massage unit 9. In addition, the two massage units 8 and 9 can be raised and lowered integrally while maintaining a predetermined relative position (for example, the proximity state or the pre-proximity state).

[0058] As shown in Figure 2, the backrest 3 is equipped with an upper limit sensor 75 for detecting the upper limit of the lifting range of the first massage unit 8, and a lower limit sensor 76 for detecting the lower limit of the lifting range of the second massage unit 9, so that the first and second massage units 8 and 9 do not detach from the backrest 3. In addition, the first and second massage units 8 and 9 each have lifting sensors 77 and 78, respectively, which detect their vertical position by detecting the number of rotations of the lifting shafts 36 and 56. The vertical position of the first massage unit 8 is detected by the lifting sensor 77 detecting how many rotations the lifting shaft 36 has made from the upper limit position. The vertical position of the second massage unit 9 is detected by the lifting sensor 78 detecting how many rotations the lifting shaft 56 has made from the lower limit position.

[0059] [Collision avoidance control] When both massage units 8 and 9 are moving toward each other, if the system detects that they have reached a predetermined relative position (for example, a close-proximity state or a pre-close-proximity state), the sub-control unit 25 controls the lifting motor 35 to stop or reverse its drive, and the sub-control unit 26 controls the lifting motor 55 to stop or reverse its drive. The sub-control units 25 and 26 also communicate to the main control unit 24 that they have performed the above control. In this way, a collision between the two massage units 8 and 9 is avoided.

[0060] When the lifting and lowering of one massage unit (e.g., the first massage unit 8) is stopped, and the other massage unit (e.g., the second massage unit 9) is moving toward the first massage unit, if the sub-control unit 26 detects that both massage units 8 and 9 have reached a predetermined relative position (e.g., a close-proximity state or a pre-close-proximity state), the sub-control unit 26 controls the lifting motor 55 to stop or reverse its drive. The sub-control units 25 and 26 also communicate to the main control unit 24 that they have performed the above control. Alternatively, or in addition to the above control, the sub-control unit 25 may drive the lifting motor 35 to control the first massage unit 8 to move toward the second massage unit 9. In this way, a collision between the two massage units 8 and 9 is avoided.

[0061] [Shoulder position detection] Massage machine 1 is configured to detect the shoulder position as a specific body part of the user. The configuration for detecting the shoulder position will be described below. The first massage unit 8 is equipped with a specific body part detection sensor (not shown) that detects when the first massage mechanism 31 has advanced a predetermined amount relative to the main frame 30. Shoulder position detection is performed when the first massage unit 8 is raised from the waist or back position along the height direction while a predetermined amount of air is supplied to the retractable air cell 15 or is continuously supplied with air. During this detection process, it is preferable to inflate the air cell 10 provided in the backrest 3 to hold the user's upper body against the backrest 3.

[0062] When the treatment element 34 reaches the shoulder position during the upward movement of the first massage unit 8, the load from the user is released and the extension of the first massage mechanism 31 reaches a predetermined amount. The user's shoulder position is detected based on the vertical position of the first massage unit 8 when the specific body part detection sensor detects the predetermined extension of the first massage mechanism 31. In addition, other body parts such as the neck, shoulder blades, back, waist, and buttocks are also calculated based on the detected shoulder position. Note that the specific body part to be detected does not have to be the shoulder position; it may be other body parts such as the waist.

[0063] During the execution of a massage course, the first massage unit 8 can perform a massage according to the user's height based on the position information of the shoulders and / or other body parts detected by the specific body part detection sensor. Also during the execution of a massage course, the second massage unit 9 can perform a massage according to the user's height based on the position information detected by the specific body part detection sensor of the first massage unit 8. The second massage unit 9 may also be equipped with a specific body part detection sensor so that it can also perform a massage according to the user's height based on the position information of the shoulders and / or other body parts detected by the specific body part detection sensor. Alternatively, the second massage unit 9 may be operated based on predetermined position information for each body part. In this case, it is preferable to store the position information for each body part based on the average height in the control means 23.

[0064] When both massage units 8 and 9 move up or down in the same direction, the massage unit on the front side in the direction of travel is controlled to move faster than the massage unit on the rear side in the direction of travel, or the massage unit on the front side in the direction of travel is controlled to start moving before the massage unit on the rear side in the direction of travel. This further improves the accuracy of collision prevention. In addition, if the lifting speed of the massage unit on the front side in the direction of travel is made relatively slightly faster, or if the movement of the massage unit on the front side in the direction of travel is started relatively slightly earlier, both massage units 8 and 9 can be moved smoothly in the same direction while staying close together. In other words, the sensor 70 can frequently detect the proximity state and prevent the massage unit on the rear side in the direction of travel from stopping or moving away in small increments.

[0065] [Massage motion] The kneading motion will be described in detail below. Figure 16 is an explanatory diagram of the kneading operation. Figure 17 is an explanatory diagram of the kneading operation, where (a) shows the kneading operation with the massage unit 8 stopped moving up and down, (b) shows the kneading operation while the massage unit 8 is being lowered, and (c) shows the kneading operation while the massage unit 8 is being raised. Figure 18 is an explanatory diagram of the kneading operation, where (a) shows the kneading operation with the massage unit 8 stopped moving up and down, (b) shows the kneading operation while the massage unit 8 is being raised, and (c) shows the kneading operation while the massage unit 8 is being lowered. Figure 19 is an explanatory diagram of the kneading operation. Note that in Figures 16 and 19, the first massage unit 8 is positioned at the neck position and the second massage unit 9 is positioned at the shoulder position.

[0066] As shown in Figure 16, when the massage motors 43 and 63 are driven to continuously rotate the kneading shafts 41 and 61 in one direction, each treatment element 34 and 54 operates in a loop-shaped trajectory with left-right and up-down components when viewed from the front. On the other hand, when the kneading shafts 41 and 61 are reversed before completing one rotation, each treatment element 34 and 54 operates in an arc-shaped trajectory with left-right and up-down components when viewed from the front. In either of the above cases, the left and right pair of treatment elements 34 and 54 move in the left-right direction, approaching and moving away from each other. The kneading operation is performed in this manner.

[0067] As shown in Figures 7 and 13, in the massage machine 1 according to this embodiment, the distance d1 between the treatment element 34 of the first massage mechanism 31 and the kneading shaft 41 is set to be shorter than the distance d2 between the treatment element 54 (upper treatment element 54a) of the second massage mechanism 51 and the kneading shaft 61. Therefore, as shown in Figure 16, the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51 have different ranges of motion in the left-right direction during the kneading motion. Specifically, the range of motion W1 of the treatment element 34 is narrower than the range of motion W2 of the treatment element 54. In addition, the vertical dimensions of the trajectories of the kneading motion differ between the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51. Specifically, the vertical dimension H1 of the trajectory of the treatment element 34 is smaller than the vertical dimension H2 of the trajectory of the treatment element 54. Furthermore, the vertical dimensions of the operating range and the trajectory can also be varied by differentiating the inclination angles of the inclined axes 41a and 61a with respect to the axes 41b and 61b of the kneading axes 41 and 61. Specifically, the larger the inclination angle of the inclined axes 41a and 61a with respect to the axes 41b and 61b of the kneading axes 41 and 61, the larger the vertical dimensions of the operating range and the trajectory can be.

[0068] This configuration allows the first massage mechanism 31 to perform relatively fine kneading movements on the neck, which has a narrow treatment area, and the second massage mechanism 51 to perform dynamic kneading movements on the treatment area below the neck, which has a wider treatment area (e.g., shoulders, back, waist, etc.). In other words, it is possible to perform effective kneading movements according to the treatment area. Furthermore, since both massage units 8 and 9 are vertically adjustable, it is possible to switch between the first massage unit 8 and the second massage unit 9 to perform different kneading movements on the same treatment area.

[0069] Furthermore, by raising and lowering each massage unit 8, 9 along the height direction in synchronization with the kneading motion, the vertical dimension of the kneading motion trajectory can be changed. To illustrate with the treatment element 34 as an example, as shown in Figure 17(b), if the first massage unit 8 is lowered in synchronization with the downward movement of the treatment element 34 due to the kneading motion, the vertical dimension H1 of the kneading motion trajectory becomes larger, and as shown in Figure 17(c), if the first massage unit 8 is raised in synchronization with the downward movement of the treatment element 34 due to the kneading motion, the vertical dimension H1 of the kneading motion becomes smaller. Alternatively, as shown in Figure 18(b), if the first massage unit 8 is raised in synchronization with the upward movement of the treatment element 34 due to the kneading motion, the vertical dimension H1 of the kneading motion trajectory becomes larger, and as shown in Figure 18(c), if the first massage unit 8 is lowered in synchronization with the upward movement of the treatment element 34 due to the kneading motion, the vertical dimension H1 of the kneading motion becomes smaller.

[0070] This configuration allows for various variations in the sensation of the kneading motion. For example, the left-right range of motion of the kneading motion can be controlled by switching between the massage units 8 and 9 that massage the area being treated, and the vertical dimension of the kneading motion trajectory can be controlled by raising and lowering the massage units 8 and 9. Although Figures 17 and 18 illustrate the treatment element 34 of the first massage mechanism 31, the same kneading motion can be performed on the treatment element 54 of the second massage mechanism 51. Furthermore, in a configuration where the kneading motion by the massage motor involves a pair of left and right treatment elements that move closer together and further apart with only a left-right component, the motion can be changed to one in which the treatment elements trace an arc-shaped or loop-shaped trajectory with a vertical component by raising and lowering the massage units.

[0071] As shown in Figure 19, in another embodiment, the distance between the left and right pairs of massage elements 34, 54 when they are closest during the kneading motion may be set to be different in the first massage mechanism 31 and the second massage mechanism 51. Specifically, it is preferable that the distance D1 of the first massage mechanism 31 is set to be narrower than the distance D2 of the second massage mechanism 51. The distance between the mounting positions of the pair of arms 40, 60 to the kneading shafts 41, 61, or the inclination angle of the inclination axes 41a, 61a with respect to the axes 41b, 61b of the kneading shafts 41, 61. With this configuration, the first massage mechanism 31 can perform a firm kneading motion on the neck, and the second massage mechanism 51 can perform a kneading motion on the treatment area below the neck (e.g., shoulders, back, waist, etc.) which has a wide treatment range, while avoiding the vicinity of the body's centerline (e.g., spine). In other words, an effective kneading motion can be performed according to the treatment area.

[0072] The following describes the cooperation between the first massage mechanism 31 and the second massage mechanism 51.

[0073] [Operation 1] Figure 20 is a flowchart of operation 1. Figure 21 is an explanatory diagram of operation 1, where (a) shows the state in which the first massage mechanism 31 has advanced and the second massage mechanism 51 has retracted, and (b) shows the state in which the first massage mechanism 31 has retracted and the second massage mechanism 51 has advanced. Operation 1 is an operation in which the first massage mechanism 31 and the second massage mechanism 51 are moved forward and backward with a time difference, and preferably includes the operation of the treatment elements 34 and 54 driven by the massage motors 43 and 63. Below, an example is given in which Operation 1 is performed with the first massage unit 8 positioned at the neck position and the second massage unit 9 positioned at the back of the shoulder, as shown in Figure 21.

[0074] As shown in Figure 20, first, the first massage mechanism 31 is advanced relative to the second massage mechanism 51 (step S1). Next, while maintaining the front-to-back position of the first massage mechanism 31, the second massage mechanism 51 is advanced (step S2). Next, while maintaining the front-to-back position of the second massage mechanism 51, the first massage mechanism 31 is retracted relative to the second massage mechanism 51 (step S3). Next, while maintaining the front-to-back position of the first massage mechanism 31, the second massage mechanism 51 is retracted (step S4). This cycle of steps S1 to S4 is repeated for a predetermined time. Note that in steps S1 to S4, the second massage mechanism 51 may be advanced first. Also, the positions in which each massage unit 8 and 9 are placed are not particularly limited; for example, the first massage unit 8 may be placed at the neck position and the second massage unit 9 may be placed at the waist position.

[0075] In steps S1 to S4, it is preferable to drive the massage motors 43 and 63 to cause the treatment elements 34 and 54 to perform a massage including kneading or tapping movements, and the massage may be performed continuously. Alternatively, the massage may be performed intermittently; for example, the massage may be performed when each massage mechanism 31 and 51 is extended, and stopped when each massage mechanism 31 and 51 is retracted. Furthermore, the extension or retraction of the massage mechanisms 31 and 51 may be synchronized with the massage, in which case a sensation as if a masseuse were performing kneading or tapping movements while changing the force can be obtained. Alternatively, the extension or retraction of the massage mechanisms 31 and 51 may be synchronized with the movement of bringing the left and right pairs of treatment elements 34 and 54 closer together, in which case a sensation as if a masseuse were grasping and pushing or grasping and pulling the area being treated can be obtained. In this context, "synchronization" means that the forward and backward drive units 15 and 16 that advance or retract the massage mechanisms 31 and 51, and the massage motors 43 and 63 that perform kneading, tapping, or bringing a pair of treatment devices closer together, must be driven in parallel regardless of the order in which they are driven, and this also includes cases where the massage motors 43 and 63 are driven after the advance or retraction of the massage mechanisms 31 and 51 has been completed.

[0076] Furthermore, the massage mechanisms 31 and 51 may be moved forward and backward alternately so that the other massage mechanism retracts in sync with the advancement of the other massage mechanism. In this case, the user can experience a sensation as if a masseuse were switching between their left and right hands while performing a massage. Alternatively, with one massage mechanism advanced, the other massage mechanism may repeatedly advance and retract for a predetermined time. In this case, the user can experience a sensation as if a masseuse were placing one hand on the area being treated and repeatedly applying pressure with the other hand.

[0077] Furthermore, in steps S1 to S4, the lifting motors 35 and 55 may be driven to raise and lower each massage unit 8 and 9. For example, the extension of the massage mechanisms 31 and 51 may be synchronized with the raising or lowering of the massage units 8 and 9. In this case, the user can experience a sensation as if a masseuse were pushing up or down the area being treated. It is preferable that this operation also be synchronized with the movement of bringing the left and right pairs of treatment elements closer together.

[0078] In this way, in operation 1, each massage mechanism 31, 51 moves forward and backward with staggered timing to perform the massage, providing a realistic sensation as if a masseuse were performing the massage with both hands. In particular, when performing a kneading motion as the massage, the left and right pairs of therapists of one massage mechanism can simulate the kneading motion of the masseuse's left thumb and other fingers, while the left and right pairs of therapists of the other massage mechanism can simulate the kneading motion of the masseuse's right thumb and other fingers. Furthermore, the sense of realism is enhanced when operation 1 is performed with both massage mechanisms 31, 51 brought closer together vertically, so it is preferable to perform the operation in the aforementioned close-proximity state or slightly-close-proximity state based on the sensor 70.

[0079] Furthermore, in the embodiment described above, a realistic sensation was achieved by moving each massage mechanism 31 and 51 inward or outward at different timings. However, a similar sensation can be obtained by varying the speeds at which each massage mechanism 31 and 51 move inward or outward. For example, if the forward movement speed of the first massage mechanism 31 is relatively faster than that of the second massage mechanism 51, even if each massage mechanism 31 and 51 starts moving in simultaneously, the first massage mechanism 31's treatment tip 34 will press into the area being treated, and then the second massage mechanism 51's treatment tip 54 will press into the area being treated a short time later. Therefore, a sensation can be obtained as if a masseuse were sequentially pressing the left and right hands into the area being treated.

[0080] [Operation 2] Figure 22 is a flowchart of operations 2 and 3. Figure 23 is an explanatory diagram of operations 2 and 3, where (a) shows the state in which the first and second massage mechanisms 31 and 51 are retracted, (b) shows the state in which the first and second massage mechanisms 31 and 51 are extended, and (c) shows the state in which the first massage mechanism 31 is extended and the second massage mechanism 51 is retracted. In Figure 23, the treatment elements 34, 54a, and 54b with diagonal lines indicate the extended state, while the treatment elements 34, 54a, and 54b without diagonal lines indicate the retracted state.

[0081] Action 2 is the action of extending the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51 toward the area to be treated. Below, as shown in Figure 23, an example will be given of performing Action 2 with the first massage unit 8 positioned on the back of the shoulder and the second massage unit 9 positioned on the upper back.

[0082] As shown in Figure 22, first, the massage units 8 and 9 are raised and lowered to a position where they are close together in the height direction (step S1). In this example, the first massage unit 8 is positioned on the back of the shoulders, and the second massage unit 9 is positioned on the upper back. Therefore, as shown in Figure 23, the treatment element 34 and the upper treatment element 54a are close together in the height direction. Next, the massage motors 43 and 63 are driven to make the positions of the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51 different in the left-right direction, as shown in Figure 23(a) (step S2). Next, the forward and backward drive units 15 and 16 are driven to advance the first massage mechanism 31 and the second massage mechanism 51, as shown in Figure 23(b) (step S3).

[0083] In step S1, the vertical distance between the two massage units 8 and 9 can be determined based on the sensor 70, for example, by setting it to the close proximity state or the pre-close proximity state as described above. In step S2, the left and right positions of each treatment element 34 and 54 can be determined based on the width sensors 46 and 66. Steps S1 and S2 may be performed in parallel. In step S3, the first massage mechanism 31 and the second massage mechanism 51 may be extended simultaneously or at different times.

[0084] In step S3, the massage motors 43 and 63 may be driven to perform kneading or tapping movements. For example, it is preferable to have one massage mechanism perform a kneading movement in the backrest 3, while the other massage mechanism performs an action including a tapping movement in parallel. By operating in this manner, it is possible to give the sensation that two or more masseurs are performing different types of massages on the upper body. However, since a masseur can perform a kneading movement with one hand but not a tapping movement with the other, one masseur cannot perform kneading and tapping movements in parallel.

[0085] In this way, in operation 2, the treatment element 34 of the first massage mechanism 31 and the treatment element 54 (upper treatment element 54a) of the second massage mechanism 51 are aligned in the left-right direction, so that a realistic sensation can be obtained as if a masseuse were using both hands to perform a massage (acupressure) with the thumb and other fingers. That is, in the state shown in Figure 23, the treatment elements 34 located on the inside left and right correspond to the thumb, and the upper treatment element 54a or lower treatment element 54b located on the outside left and right correspond to the other fingers. Furthermore, although the above embodiment described the case in which operation 2 is performed with the first massage mechanism 31 and the second massage mechanism 51 in close proximity, operation 2 may also be performed with them separated. In this case, for example, the treatment element 54 located on the lower side (upper treatment element 54a or lower treatment element 54b) corresponds to the thumb, and the treatment element 34 located on the upper side corresponds to the other fingers.

[0086] [Operation 3] Action 3 involves positioning the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51 differently in the left-right direction, and then retracting the treatment element of one of the massage mechanisms from its extended position. The following example shows the case where action 3 is performed following action 2, as shown in Figure 22.

[0087] Following step S3 of operation 2, the forward / backward drive unit is driven to retract one of the massage mechanisms (step S4). In the example shown in Figure 23, the forward / backward drive unit 16 is driven to retract the second massage mechanism 51. When this is done, the area to be treated comes into strong contact with the treatment element 34 of the extended first massage mechanism 31, providing a sensation as if being subjected to acupressure by the treatment element 34. Operation 3 is performed when both massage mechanisms 31 and 51 are in close proximity, as this enhances the sensation of acupressure. Therefore, it is preferable to perform operation 3 in the aforementioned close proximity state or pre-close proximity state based on the sensor 70. Furthermore, in operations 2 and 3, the positions in which each massage unit 8 and 9 are placed are not particularly limited. For example, the first massage unit 8 may be placed at the neck or back, and the second massage unit 9 may be placed at the waist.

[0088] [Operation 4] Figure 24 is an explanatory diagram of operation 4. Note that in Figure 24, the lower treatment device 54b is omitted from the illustration for ease of understanding. Operation 4 is an operation in which the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51 perform kneading movements at different speeds, and it is preferable to perform this operation with the massage mechanisms 31 and 51 in close proximity in the vertical direction.

[0089] First, the massage units 8 and 9 are raised and lowered to a position where they are close together in the height direction. Next, the massage motors 43 and 63 are driven continuously in one direction to perform a kneading motion using the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51. This kneading motion is performed by driving the respective massage motors 43 and 63 at different speeds, thereby rotating the respective kneading shafts 41 and 61 at different speeds. In the example shown in Figure 24, the rotation of the kneading shaft 41 is set to a relatively faster speed. The vertical distance between the two massage units 8 and 9 can be determined based on the sensor 70, for example, to the close-to-close state or the pre-close-to-close state described above.

[0090] In this way, operation 4 performs a kneading motion by repeating a cycle in which the treatment elements 34 and 54 of each massage mechanism 31 and 51 complete a loop-shaped trajectory. However, from the perspective of the treatment elements of one massage mechanism, the positional relationship with the treatment elements of the other massage mechanism differs in each cycle. For example, from the perspective of the treatment elements 34 of the first massage mechanism 31, in the first cycle when the pair of treatment elements 34 are furthest apart, the pair of treatment elements 54 of the second massage mechanism 51 are located at the upper end of the kneading motion trajectory. However, in the second cycle when the pair of treatment elements 34 are furthest apart, the pair of treatment elements 54 of the second massage mechanism 51 are located at the lower end of the kneading motion trajectory. In this way, operation 4 can change the kneading motion from the vertical direction by the treatment elements 34 of the first massage mechanism 31 and the treatment elements 54 of the second massage mechanism 51 over time, thereby enhancing the massage effect.

[0091] [Operation 5] Figure 25 is an explanatory diagram of operation 5, where (a) shows the state in which the first and second massage mechanisms 31 and 51 are retracted, and (b) shows the state in which the first massage mechanism 31 is retracted and the second massage mechanism 51 is extended. As shown in Figure 25, operation 5 is the operation of extending the second massage mechanism 51 with the first massage unit 8 positioned at the shoulder and the second massage unit 9 positioned at the waist, and preferably includes the operation of the treatment element 34 driven by the massage motor 43. By extending the second massage mechanism 51 at the waist, the waist is pushed forward and the upper body is in a posture where it is bent backward. Consequently, the shoulder comes into strong contact with the treatment element 34 of the first massage mechanism 31. If the treatment element 34 of the first massage mechanism 31 is performing a kneading or tapping motion at this time, the massage effect will be enhanced.

[0092] [Operation 6] Figure 26 is an explanatory diagram of operation 6, where (a) shows the state in which the first massage unit 8 is positioned at the shoulder and the second massage unit 9 is positioned at the waist, and (b) shows the state in which the first massage unit 8 is positioned at the shoulder and the second massage unit 9 has been raised to the back position. As shown in Figure 26, operation 6 is the operation of raising the second massage unit 9 in the height direction with the first massage unit 8 positioned at the shoulder, and preferably includes the operation of the treatment element 34 driven by the massage motor 43. By raising the second massage unit 9, the upper body is lifted. Consequently, the shoulder comes into strong contact with the treatment element 34 of the first massage mechanism 31. At this time, if the treatment element 34 of the first massage mechanism 31 is performing a kneading or tapping motion, the massage effect will be enhanced.

[0093] [Operation 7] Figure 27 is an explanatory diagram of operation 7, where (a) shows the state in which the first massage mechanism 31 has advanced and is gripping the neck and the second massage mechanism 51 is positioned at the shoulder, and (b) shows the state in which the first massage mechanism 31 has advanced and is gripping the neck and the second massage mechanism 51 has descended to the waist position. Action 7 involves holding the area to be treated between the pair of treatment elements of one massage mechanism and moving the other massage mechanism upward or downward in the direction of height. In the example shown in Figure 27, the first massage mechanism 31 is advanced and the pair of treatment elements 34 are brought close together to hold the neck, while the second massage unit 9 is lowered. Lowering the second massage unit 9 pulls the upper body downward. Therefore, since the neck is held by the treatment elements 34 of the first massage mechanism 31, a stretching effect on the neck can be obtained. Furthermore, by repeatedly raising and lowering the second massage unit 9 while the neck is held by the first massage mechanism, it is possible to obtain a sensation as if a masseuse were holding the neck in place with one hand while stroking or stretching the area to be treated with the other hand.

[0094] In operation 7, the positions in which each massage unit 8 and 9 are placed are not particularly limited. Furthermore, the massage mechanism that grips the area to be treated and the massage mechanism that raises or lowers them can be selected as appropriate. For example, the second massage unit 9 may be placed at the waist position and the waist may be gripped by the pair of treatment elements 54, while the first massage unit 8 is raised or lowered at the back position.

[0095] [Operation 8] Figure 28 is an explanatory diagram of operation 8, where (a) shows the state in which the first massage mechanism 31 is performing a kneading motion and the second massage mechanism 51 is in the upward process, and (b) shows the state in which the first massage mechanism 31 is performing a kneading motion and the second massage mechanism 51 is in the downward process. Operation 8 is an operation in which one massage mechanism is made to perform a kneading or tapping motion, and the other massage mechanism is made to rise or fall. Below, based on Figure 28, an example will be given in which the first massage mechanism 31 is made to perform a kneading motion as the one massage mechanism, and the second massage mechanism 51 is made to rise or fall as the other massage mechanism.

[0096] As shown in Figure 28(a), by raising the second massage mechanism 51 toward the first massage mechanism 31, the muscles of the area being treated are drawn toward the first massage mechanism 31, and these drawn muscles can be massaged by the pair of massagers 34 of the first massage mechanism 31. On the other hand, as shown in Figure 28(b), by lowering the second massage mechanism 51 toward the first massage mechanism 31, the muscles of the area being treated are pulled, and these pulled muscles can be massaged by the pair of massagers 34 of the first massage mechanism 31. Furthermore, by stroking the area being treated by raising or lowering the second massage mechanism 51, blood circulation can be promoted, and the massage effect is further enhanced when the first massage mechanism 31 performs a kneading motion on the area being treated with improved blood circulation. In addition, in action 8, the first massage mechanism 31 may be raised or lowered, and the second massage mechanism 51 may perform a kneading motion or a tapping motion.

[0097] [Operation 9] Figure 29 is a flowchart of operations 9 and 10. Operation 9 is an operation that synchronizes the movement of the first massage mechanism 31 and the second massage mechanism 51 in a direction that brings them closer to each other along the height direction, and the movement of the treatment elements 34 and 54 of the first and second massage mechanisms 31 and 51 toward the area being treated. As shown in Figure 29, first, each massage unit 8 and 9 is moved in a direction that brings them closer to each other (step S1). This operation in step S1 is continued until the relative positions of each massage unit 8 and 9 are in a close position or a pre-close position. After the completion of step S1, or in parallel with step S1, the treatment elements 34 and 54 of the first and second massage mechanisms 31 and 51 are extended (step S2). By operating in this way, the back muscles are straightened by the movement of the massage mechanisms 31 and 51 along the height direction, and the upper body is bent backward by the extension of the treatment elements 34 and 54, thereby enhancing the massage effect. Then, after step S2 is completed, the treatment elements 34, 54 of the first and second massage mechanisms 31, 51 are retracted (step S3). In step S1, it is preferable to bring the first and second massage mechanisms 31, 51 closer to each other with the waist position as the target position, in which case the effect of arching the upper body is enhanced.

[0098] [Operation 10] Operation 10 is an operation that synchronizes the movement of the first massage mechanism 31 and the second massage mechanism 51 in directions away from each other along the length of the body, and the movement of the treatment elements 34 and 54 of the first and second massage mechanisms 31 and 51 with respect to the area being treated. Below, as shown in Figure 29, an example will be given of the case in which operation 10 is performed following operation 9. Following step S3 of operation 9, the first and second massage units 8 and 9, which are in a close or pre-close state, are moved in a direction away from each other (step S4). This operation in step S4 is continued until the first massage unit 8 is in the neck position and the second massage unit 9 is in the lower limit position of its lifting range. Then, in parallel with step S4, the treatment elements 34 and 54 of the first and second massage mechanisms 31 and 51 are extended (step S5). By operating in this way, the upper body can be arched by the extension of the treatment elements 34 and 54, while the upper body can be stretched by the separation movement of the massage mechanisms 31 and 51 along the height direction, thereby enhancing the massage effect.

[0099] [Operation 11] Figure 34 is a flowchart of operation 11. Action 11 is an action that stretches the user's body. Action 11 is performed in sync with the following actions: positioning the treatment element 34 of the first massage mechanism 31 on the neck by driving the lifting motor 35, bringing the pair of treatment elements 34 close together and grasping the neck by driving the massage motor 43; positioning the treatment element 54 of the second massage mechanism 51 on the waist by driving the lifting motor 55, and advancing the second massage mechanism 51 by driving the forward / backward drive unit 16 to press against the waist; holding the upper body against the backrest 3 with the air cell 10 which serves as a second pressing and holding means provided on the backrest 3; holding the lower limbs against the footrest 4 with the air cell 13 which serves as a first pressing and holding means provided on the footrest 4; reclining the backrest 3 backward by driving the actuator 21; and lowering the footrest 4 by driving the actuator 22.

[0100] In action 11, it is sufficient to synchronize at least the action of grasping the neck, the action of pressing on the waist, and the action of reclining the backrest 3 backward. With such an action, the displacement of the upper body relative to the backrest 3 due to the reclining of the backrest 3 is suppressed by holding the neck, and the second massage mechanism 51 pushes up the waist, so the upper body can be effectively arched and a high stretching effect can be expected.

[0101] Furthermore, by adding the action of holding the upper arm or shoulder with the air cell 10, the displacement of the upper body relative to the backrest 3 due to the reclining of the backrest 3 is further suppressed by holding the upper arm or shoulder, and a higher stretching effect can be expected. In addition, by adding the action of holding the lower limbs and lowering the footrest 4, the backrest 3 and footrest 4 are operated with the neck and lower limbs held, so the whole body can be pulled, and a higher stretching effect can be expected. Furthermore, by retracting the first massage mechanism 31, which is in an extended state, by driving the forward / backward drive unit 15 in sync with the reclining of the backrest 3, the neck is pulled downward, and a higher stretching effect can be expected. Note that "synchronization" in action 11 means that each action is performed in parallel regardless of the order, and furthermore, the extension of the second massage mechanism 51 also includes cases where it is performed after the reclining of the backrest 3 or the lowering of the footrest 4 is completed.

[0102] The individual operations of the first massage mechanism 31 and the second massage mechanism 51 will be described below. Figure 35 is an explanatory diagram of operation A. Figure 36 is an explanatory diagram of operation B. Figure 37 is an explanatory diagram of operation C. Figure 38 is an explanatory diagram of operation D. Figure 39 is an explanatory diagram of operation E. Figure 40 is an explanatory diagram of operation F. Figure 41 is an explanatory diagram of operation a. Figure 42 is an explanatory diagram of operation b. Figure 43 is an explanatory diagram of operation c. Figure 44 is an explanatory diagram of operation d. Figure 45 is an explanatory diagram of operation e. Figure 46 is an explanatory diagram of operation f. Figure 47 is an explanatory diagram of operation g. Figure 48 is an explanatory diagram of operation h. Figure 49 is an explanatory diagram of operation i. Figure 50 is an explanatory diagram of operation j.

[0103] Actions A to F are actions of the first massage mechanism 31. Actions a to j are actions of the second massage mechanism 51. Actions A to F of the first massage mechanism 31 and actions a to j of the second massage mechanism 51 can be combined arbitrarily. In other words, in this embodiment, there are 60 possible combinations of actions of the first massage mechanism 31 and the second massage mechanism 51. By combining actions A to F and a to j of the massage mechanisms 31 and 51, which are provided in multiple locations on the backrest 3 along the direction of height, it is possible to massage muscles over a wide area, such as the trapezius muscle M, all at once. Moreover, it is possible to massage areas that are far apart in the direction of height simultaneously. For ease of understanding, in actions a to j, the lower massage element 54b is omitted from the illustration.

[0104] In operations A to F, the position massaged by the first massage mechanism 31 is determined based on the position information of each body part detected or calculated by the specific body part detection sensor. On the other hand, in operations a to j, the position massaged by the second massage mechanism 51 is determined based on the position information of each body part detected by the specific body part detection sensor of the first massage unit 8 or the second massage unit 9, or based on position information stored in advance in the control means 23.

[0105] [Action A] As shown in Figure 35, operation A is an operation in which the massage motor 43 is driven at the shoulder position to perform a kneading motion in which the pair of treatment elements 34 of the first massage mechanism 31 move closer together and further apart. In operation A, the treatment elements 34 may act on either the upper or posterior part of the shoulder. When acting on the posterior part of the shoulder, it is preferable to act on the area above the scapula B. Furthermore, when acting on the scapula B as the posterior part of the shoulder, it is preferable to perform the kneading motion with the first massage mechanism 31 retracted by contracting the retractable air cells 15 to avoid causing excessive pain.

[0106] [Operation B] As shown in Figure 36, operation B involves driving the massage motor 43 at the neck position to bring the pair of treatment elements 34 of the first massage mechanism 31 closer together and grasp the neck. In this operation, the massage motor 43 is stopped for a predetermined time while the pair of treatment elements 34 are in close proximity.

[0107] [Operation C] As shown in Figure 37, operation C is the motion of stroking from the neck to the shoulders with the treatment element 34 of the first massage mechanism 31. Specifically, the pair of treatment elements 34 are brought close together at the neck position, and the lifting motor 35 and massage motor 43 are driven to lower the first massage mechanism 31 while moving the pair of treatment elements 34 apart (operation C-1). Alternatively, the pair of treatment elements 34 are moved apart at the shoulder position, and the lifting motor 35 and massage motor 43 are driven to raise the first massage mechanism 31 while bringing the pair of treatment elements 34 closer together (operation C-2). Operations C-1 and C-2 may be repeated alternately.

[0108] [Operation D] As shown in Figure 38, operation D is the operation in which the lifting motor 35 is driven from above the shoulder position to lower the first massage mechanism 31 and apply acupressure to the shoulder from above with the pair of treatment points 34. In this operation, it is preferable to perform the operation with the pair of treatment points 34 separated. It is also preferable to supply a predetermined amount of air to the retractable air cell 15 and perform the operation with the treatment points 34 extended.

[0109] [Action E] As shown in Figure 39, operation E is the operation of driving the lifting motor 35 at the neck position to raise and lower the first massage mechanism 31 and massage the neck with the pair of treatment elements 34.

[0110] [Operation F] As shown in Figure 40, operation F is the motion of using the treatment element 34 of the first massage mechanism 31 to stroke the shoulder or back between the left and right scapulae B. Specifically, the pair of arms 40 are positioned so that they are approximately parallel when viewed from the front at the shoulder or back position, and the treatment element 34 is not in contact with the scapulae B. The lifting motor 55 is then driven to raise or lower the first massage mechanism 31. The separation distance between the pair of treatment elements 34 in operation F may be wider than the separation distance between the pair of treatment elements 34 in operation E.

[0111] [Action a] As shown in Figure 41, action a is a motion in which the treatment element 54 of the second massage mechanism 51 strokes the back between the left and right scapulae B. The vertical range of the back stroke in this motion includes positions corresponding to the upper and lower ends of the scapulae B. Specifically, with the pair of arms 60 positioned approximately parallel in a front view at the scapulae, the treatment elements 54a and 54b are kept from contacting the scapulae B, and the lifting motor 55 is driven to raise or lower the second massage mechanism 51. In other words, action a is a motion that strokes a wide area between the entire left and right scapulae.

[0112] [Movement b] As shown in Figure 42, action b is a motion in which the treatment element 54 of the second massage mechanism 51 strokes the back between the left and right scapulae B. In this motion, the vertical range of the back stroke includes the area below the center of the scapulae B, but does not include the position corresponding to the upper end. Specifically, with the pair of arms 60 positioned approximately parallel in a front view at the scapulae, the treatment elements 54a and 54b are kept from contacting the scapulae B, and the lifting motor 55 is driven to raise or lower the second massage mechanism 51. In other words, action b is a motion that mainly strokes the lower part between the left and right scapulae B.

[0113] [Operation c] As shown in Figure 43, action c is a motion in which the treatment element 54 of the second massage mechanism 51 strokes the back between the left and right scapulae B. In this motion, the vertical range of the back stroke includes the area above the center of the scapulae B, but does not include the area corresponding to the lower end. Specifically, with the pair of arms 60 positioned approximately parallel in a front view at the scapulae, the treatment elements 54a and 54b are kept from contacting the scapulae B, and the lifting motor 55 is driven to raise or lower the second massage mechanism 51. In other words, action c is a motion that primarily strokes the upper portion between the left and right scapulae B.

[0114] [Operation d] As shown in Figure 44, operation d is an action in which the treatment element 54 of the second massage mechanism 51 massages the area from the waist to the back. Specifically, with the pair of arms 60 in a state where they are approximately parallel when viewed from the front, and with the treatment elements 54a and 54b not in contact with the scapula B, the lifting motor 55 is driven to raise or lower the second massage mechanism 51. The lower limit of the lifting range of the second massage mechanism 51 may be determined based on a limit sensor (not shown) provided at the bottom of the backrest 3. Due to the structure of the second massage mechanism 51, the upper treatment element 54a acts more strongly than the lower treatment element 54b, so instead of making the arms 60 approximately parallel when viewed from the front, the pair of upper treatment elements 54a may be brought closer than the pair of lower treatment elements 54b, and operations a to d may be performed with the upper treatment element 54a not in contact with the scapula B.

[0115] [Action e] As shown in Figure 45, action e is an action in which the treatment element 54 of the second massage mechanism 51 performs a kneading motion on the lower edge of the scapula B. Specifically, the treatment element 54 (for example, the upper treatment element 54a) is positioned slightly below the lower end of the scapula B, and the massage motor 63 is driven to perform a kneading motion in which the pair of treatment elements 54 of the second massage mechanism 51 move closer together and further apart.

[0116] [Action f] As shown in Figure 46, operation f is the motion of the second massage mechanism 51 using the treatment element 54 to stroke the medial edge of the scapula B. Specifically, the pair of treatment elements 54 (for example, the upper treatment element 54a) are placed close together between the left and right scapula B, and the lifting motor 55 and massage motor 63 are driven to lower the second massage mechanism 51 while moving the pair of treatment elements 54 (for example, the upper treatment element 54a) apart (operation f-1). Alternatively, the pair of treatment elements 54 (for example, the upper treatment element 54a) are placed apart between the left and right scapula B, and the lifting motor 55 and massage motor 63 are driven to raise the second massage mechanism 51 while moving the pair of treatment elements 54 (for example, 54a) close together (operation f-2). Operations f-1 and f-2 may be repeated alternately.

[0117] [Movement g] As shown in Figure 47, operation g is a massage action performed by the treatment element 54 of the second massage mechanism 51, stroking and kneading the back and / or waist. Specifically, the lifting motor 55 and the massage motor 63 are driven to raise or lower the second massage mechanism 51, bringing the pair of treatment elements 54 closer together and further apart. In this operation, the range in which the second massage mechanism 51 is raised and lowered may be from the waist to the back, or only the back or waist.

[0118] [Operation h] As shown in Figure 48, operation h is the operation of massaging the rear of the buttocks (the part that contacts the backrest 3) with the treatment element 54 of the second massage mechanism 51. Specifically, the massage motor 63 is driven to bring the pair of treatment elements 54 of the second massage mechanism 51 closer together and further apart at the buttock position. The buttock position may be determined based on a limit sensor (not shown) provided at the bottom of the backrest 3.

[0119] [Action i] As shown in Figure 49, operation i is an action in which the treatment element 54 of the second massage mechanism 51 applies pressure to the rear of the buttocks (the part that contacts the backrest 3). Specifically, the massage motor 63 is driven to bring the pair of treatment elements 54 of the second massage mechanism 51 (for example, the upper treatment element 54a) close to the buttocks, and the massage motor 63 is stopped for a predetermined time in that state. The buttocks position may be determined based on a limit sensor (not shown) provided at the bottom of the backrest 3.

[0120] [Movement] As shown in Figure 50, the operation j is the motion of the second massage mechanism 51's treatment element 54 stroking the lower back and / or the rear of the buttocks (the part that contacts the backrest 3). Specifically, the lifting motor 55 is driven to raise or lower the second massage mechanism 51. In this operation, the range in which the second massage mechanism 51 is raised and lowered may be from the lower back to the buttocks, or it may be just the lower back or the buttocks.

[0121] [Configuration of a massage unit according to another embodiment] The following describes a massage unit 100 according to another embodiment. Figure 30 is a front view of the massage unit 100 according to another embodiment. The massage unit 100 has the massage mechanism 31 and the second massage mechanism 51 described above mounted together on a single main frame 110. That is, the massage mechanisms 31, 51 and the support frames 32, 52 that support the massage mechanisms 31, 51 are the same as in the configuration described above, so they are denoted by the same reference numerals below and their description is omitted.

[0122] As shown in Figure 30, the massage unit 100 is provided on the backrest 3 and includes a first massage mechanism 31 positioned relatively above and a second massage mechanism 51 positioned relatively below. The massage unit 100 mainly consists of a main frame 110 supported so as to be able to move up and down by a guide mechanism 3b, the first massage mechanism 31 and the second massage mechanism 51, support frames 32 and 52 that support each of the massage mechanisms 31 and 51, moving drive units 15 and 16 that move each of the massage mechanisms 31 and 51 forward and backward relative to the part being treated, and links 33 and 53 that connect the main frame 110 and the support frames 32 and 52 and swing in the front-rear direction.

[0123] The massage unit 100 comprises a lifting motor 111, a lifting shaft 112, and pinions 39 attached to both ends of the lifting shaft 112. By driving the lifting motor 111, the lifting shaft 112 rotates, causing the massage unit 100 to move up and down along the height direction. The treatment element 34 can perform kneading or tapping actions when driven by the massage motor 43, and the treatment element 54 can perform kneading actions when driven by the massage motor 63.

[0124] [Configuration of massage mechanism according to other embodiments] The following describes massage mechanisms 200 according to other embodiments. Figure 31 is a front view of massage mechanism 200 according to another embodiment. The essential difference between the massage mechanism 200 and the first massage mechanism 31 described above is that the massage mechanism 200 has treatment elements 91 above and below the arm 90, and the lower treatment element 91 is provided on both the left and right sides of the arm 90. The other components are the same as those of the first massage mechanism 31, so the same reference numerals are used below and their explanations are omitted.

[0125] The massage mechanism 200 has a pair of arms 90 on the left and right sides to which the massage elements 91 are attached, and these arms 90 are connected to a kneading shaft 41 and a tapping shaft 42. The massage elements 91 have an upper massage element 91a provided on the upper side of the arm 90 and a lower massage element 91b provided on the lower side of the arm 90. The lower massage elements 91b are provided in pairs on the left and right sides, flanking the arm 90. The lower massage elements 91b are smaller in diameter than the upper massage elements 91a, with the lower massage elements 91b simulating the thumb of a masseuse, and the upper massage elements 91a simulating the other fingers of a masseuse excluding the thumb. By driving the massage motor 43, the pair of massage elements 91 can perform a kneading motion in which they move closer together and further apart, and a tapping motion in which the pair of massage elements 91 move back and forth alternately. When applying this massage mechanism 200 to the massage machine 1 described above, it is preferable to provide the massage mechanism 200 in place of the first massage mechanism 31. That is, in the backrest 3, the massage mechanism 200 is positioned relatively above, and the second massage mechanism 51 is positioned relatively below. Then, each of the massage mechanisms 51 and 200 can be raised and lowered independently along the direction of height.

[0126] This massage mechanism 200 is most effective when it performs kneading motions near the neck and shoulders. That is, the neck and shoulders can be kneaded simultaneously by the upper massage element 91a and the lower massage element 91b, respectively. Furthermore, during the approach phase of the pair of lower massage elements 91b, the inner lower massage element 91b effectively acts on the shoulder, and during the receding phase of the pair of lower massage elements 91b, the outer lower massage element 91b effectively acts on the shoulder. In terms of achieving this effect, it is not necessary to provide multiple massage mechanisms 200 along the height direction; a single massage mechanism 200 can be provided on the backrest 3 so as to be able to move up and down along the height direction. Also, the lower massage element 91b may be provided on either the inner or outer side of the arm 90.

[0127] [Link configuration according to other embodiments] The following description will illustrate the application of link 93 to the first massage unit 8 as an example of another embodiment, but it can also be applied to the second massage unit 9. Figure 32 is an explanatory diagram of link 93 according to another embodiment, where (a) shows the massage mechanism 31 in a retracted state and (b) shows the massage mechanism 31 in an extended state. In the following description, the same reference numerals are used for components corresponding to the first massage unit 8 equipped with the link 33 described above, and their descriptions are omitted.

[0128] As shown in Figure 32, a link 93 is provided on the side of the support frame 32, connecting the main frame 30 and the support frame 32 and allowing it to swing in the front-rear direction. The reason for positioning the link 93 on the side of the support frame 32 is that it reduces the thickness of the massage unit 8 in the front-rear direction compared to when it is positioned behind the support frame 32. This link 93 is arranged side by side in the front-rear direction and has a first link section 93a positioned relatively towards the rear and a second link section 93b positioned relatively towards the front. In other words, the link 93 constitutes a four-bar linkage mechanism. Also, unlike the link 33, the first link section 93a and the second link section 93b are the same length, and the link 93 constitutes a parallel linkage mechanism. Therefore, the first massage mechanism 31 can be moved forward and backward in a parallel and stable manner.

[0129] As described above, the first massage unit 8 includes a main frame 30, a massage mechanism 31 having a treatment element 34, a support frame 32 that supports the massage mechanism 31, a reciprocating drive unit 15 that moves the massage mechanism 31 forward and backward relative to the area being treated, and a link 93 that connects the main frame 30 and the support frame 32 and swings in the front-rear direction. When the massage mechanism 31 is in its most retracted position, the link 93 has connection points A1 and A3 with the main frame 30 that are located in front of the connection points A2 and A4 with the support frame 32.

[0130] [Sensor configuration according to other embodiments] The following describes another embodiment of the sensor 80 that detects the relative position of the first massage unit 8 and the second massage unit 9, based on Figure 33. Figure 33 is an explanatory diagram of the sensor 80 according to another embodiment. This sensor 80 is composed of a third sensor unit (lifting sensor 77) that detects the vertical position of the first massage unit 8, and a fourth sensor unit (lifting sensor 78) that detects the vertical position of the second massage unit 9. The relative positions of the first and second massage units 8 and 9 are detected based on the difference between the detected value (difference value "1" in Figure 33) indicating the vertical position (height) of the first massage unit 8 detected by the lifting sensor 77 (height "7" in Figure 33) and the detected value (height) indicating the vertical position (height) of the second massage unit 9 detected by the lifting sensor 78 (height "6" in Figure 33). In other words, the smaller this difference value, the narrower the distance between the two massage units 8 and 9, and the larger the difference value, the wider the distance between the two massage units 8 and 9. For example, a relative position with a difference value of "1" can be set as the close-proximity state, and a relative position with a difference value of "2" can be set as the pre-close-proximity state.

[0131] As described above, the vertical position of the first massage unit 8 is detected by the lifting sensor 77 detecting how many rotations the lifting shaft 36 has made from the upper limit position. The vertical position of the second massage unit 9 is detected by the lifting sensor 78 detecting how many rotations the lifting shaft 56 has made from the lower limit position. In this embodiment, the difference value indicating the distance between the two massage units 8 and 9 can be detected in nine steps, and the detection range of the relative positions of the first and second massage units 8 and 9 is widened compared to when the sensor 70 is used.

[0132] Furthermore, the massage machine of the present invention is not limited to the illustrated form, but may take other forms within the scope of this invention. For example, there is no restriction on the number of treatment elements, and the treatment elements 34 of the first massage mechanism 31 may be arranged in multiples in the vertical direction, similar to the second massage mechanism 51. Also, in the embodiment described above, there is one pair of arms supporting the treatment elements, but there may be multiple pairs on the left and right sides of the body's centerline, or multiple treatment elements may be provided on a single arm in the left-right direction. Furthermore, there is no restriction on the number of massage units provided along the height direction, and there may be three or more. Furthermore, from the perspective of the aforementioned operations 1 to 8, it is sufficient to provide multiple massage units 8 and 9 in the height direction, and the left-right range of motion W1 and W2 in the kneading motion, the vertical dimensions H1 and H2 of the trajectory of the kneading motion, or the separation distance D1 and D2 of the pair of treatment elements when they are closest to each other in the kneading motion may be the same for the first massage mechanism 31 and the second massage mechanism 51. Furthermore, the guide mechanism 3b may also be provided in the seat 2 or in both the seat 2 and the footrest 4, so that at least one of the first and second massage units 8 and 9 can move from the backrest 3 to the seat 2 or the footrest 4 along the direction of height.

[0133] Furthermore, the sensor 70 that detects the proximity state or the pre-proximity state as the relative position of the two massage units 8 and 9 may be a contact-type sensor using a volume switch or the like. For example, instead of the magnet holders 73 and 74, a volume switch can be provided at the tip of a spring biased in the extension direction. Moreover, if an additional volume switch is provided on the bottom wall 30c of the first massage unit 8 or the top wall 50d of the second massage unit 9, the "pre-proximity state" can be detected when the volume switch provided at the tip of the spring is pressed, and the "proximity state" can be detected when the volume switch provided on the bottom wall 30c or top wall 50d is pressed against the biasing force of the spring. [Industrial applicability]

[0134] This invention can be applied to massage machines that enhance the massage experience. [Explanation of Symbols]

[0135] 1 Massage machine 2 Seat part 3. Backrest 4 Footrest 8. First Massage Unit (Massage Unit) 9. Second Massage Unit (Massage Unit) 10 Air cell (second pressing and holding means) 13 Air cell (first pressing and holding means) 15. Retractable air cell (retractable drive unit) 16. Retractable air cell (retractable drive unit) 23 Control means 30 Main frame 30b side wall 31. First Massage Mechanism (Massage Mechanism) 32 Support Frame 33 links 33a First Link Section 33b Second Link Section 34 Treatment child 35 Lifting motor 36 Lifting shaft 40 Arms 43 Massage motor (massage drive unit) 48 Reinforcement section 50 Main frame 50b side wall 51. Second massage mechanism (massage mechanism) 52 Support Frame 53 links 53a First Link Section 53b Second Link Section 54 Treatment child 55 Lifting motor 56 Lifting shaft 63 Massage motor (massage drive unit) 68 Reinforcement section 70 sensors 71 First Sensor Unit 72 Second Recovery Unit 77 Lifting / Lowering Sensor (Third Sensor Unit) 78 Lifting sensor (4th sensor unit) 80 sensors 90 Arm 91 Treatment child 91a Upper treatment child 91b Lower treatment child 93 links 93a First Link Section 93b Second Link Section 100 Massage Units 200 First Massage Mechanism (Massage Mechanism) D1 The distance between the pair of treatment devices when they are closest together during the kneading motion. D2 The distance between the pair of treatment devices when they are closest during the kneading motion. H1 Vertical dimension of the trajectory of the kneading motion H2 Vertical dimension of the trajectory of the kneading motion W1 Lateral range of motion of the treatment device during kneading motion W2 Lateral range of motion of the treatment device during kneading motion

Claims

1. In a massage machine in which multiple massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of the user's height, The massage mechanism includes a first massage mechanism positioned relatively above and a second massage mechanism positioned relatively below. It comprises control means for controlling the operation of the first and second massage mechanisms, The first and second massage mechanisms each include a massage drive unit that causes the pair of massage elements to perform at least one of a kneading motion in which they move closer together or apart, or a tapping motion in which the pair of massage elements move back and forth alternately, and a reciprocating drive unit that moves the massage elements back and forth in the forward and backward directions relative to the user. The massage machine is characterized in that the control means controls the forward / backward drive unit to move the treatment element of the first massage mechanism and the treatment element of the second massage mechanism forward or backward with a time difference.

2. In a massage machine in which multiple massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of the user's height, The massage mechanism includes a first massage mechanism positioned relatively above and a second massage mechanism positioned relatively below. It comprises control means for controlling the operation of the first and second massage mechanisms, The first and second massage mechanisms each include a massage drive unit that causes the pair of massage elements to perform at least one of a kneading motion in which they move closer together or apart, or a tapping motion in which the pair of massage elements move back and forth alternately, and a reciprocating drive unit that moves the massage elements back and forth in the forward and backward directions relative to the user. The massage machine is characterized in that the control means controls the forward / backward drive unit to move the treatment element of the first massage mechanism and the treatment element of the second massage mechanism forward or backward at different speeds.

3. The massage machine according to claim 1 or 2, characterized in that the control means controls the reciprocating drive unit to advance the treatment element of one of the first and second massage mechanisms after advancing the treatment element of the other massage mechanism.

4. The massage machine according to any one of claims 1 to 3, characterized in that the control means controls the forward / backward drive unit to retract the treatment element of one of the first and second massage mechanisms, and then retract the treatment element of the other massage mechanism.

5. The massage machine according to any one of claims 1 to 4, characterized in that the control means controls the drive unit to retract the treatment element of the other massage mechanism in synchronization with the advancement of the treatment element of one of the first and second massage mechanisms.

6. The massage machine according to any one of claims 1 to 4, characterized in that the control means makes the positions of the treatment elements of the first and second massage mechanisms different in the left-right direction, and controls the forward / backward drive unit to retract one of the treatment elements of the first or second massage mechanism from a state in which the treatment elements of the first and second massage mechanisms are advanced.

7. The massage machine according to claim 1 or 2, characterized in that the control means controls the forward / backward drive unit to cause the other massage mechanism to repeatedly advance and retract the treatment element of one of the first and second massage mechanisms while the treatment element of the other massage mechanism is advanced.

8. The massage machine according to any one of claims 1 to 7, characterized in that the control means controls the forward / backward drive unit and the massage drive unit to synchronize the forward or backward movement of the treatment element of at least one of the first and second massage mechanisms with the kneading or tapping operation of the one massage mechanism.

9. The massage machine according to any one of claims 1 to 8, characterized in that the control means controls the forward / backward drive unit and the massage drive unit to synchronize the forward or backward movement of the treatment element of at least one of the first and second massage mechanisms with the movement of the pair of treatment elements of the first massage mechanism to bring them closer together.

10. The first and second massage mechanisms have a lifting motor that raises and lowers at least one of them along the height direction, The massage machine according to any one of claims 1 to 9, characterized in that the control means controls the forward / backward drive unit and the lifting motor to synchronize the forward movement and upward or downward movement of the one massage mechanism.

11. In a massage machine in which multiple massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of the user's height, The massage mechanism includes a first massage mechanism positioned relatively above and a second massage mechanism positioned relatively below. It comprises control means for controlling the operation of the first and second massage mechanisms, The first and second massage mechanisms each include a massage drive unit that causes the pair of massage elements to perform at least one of a kneading motion in which they move closer together or apart, or a tapping motion in which the pair of massage elements move back and forth alternately, and a reciprocating drive unit that moves the massage elements back and forth in the forward and backward directions relative to the user. The massage machine is characterized in that the control means controls the forward / backward drive unit to advance the treatment element of the second massage mechanism while the first massage mechanism is positioned on the shoulder and the second massage mechanism is positioned on the waist.

12. In a massage machine in which multiple massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of the user's height, The massage mechanism includes a first massage mechanism positioned relatively above and a second massage mechanism positioned relatively below. It comprises control means for controlling the operation of the first and second massage mechanisms, The first and second massage mechanisms each have a massage drive unit that causes at least one of the following to perform: a kneading motion in which the pair of massagers move closer together or further apart, or a tapping motion in which the pair of massagers move forward and backward alternately. The first and second massage mechanisms have a lifting motor that raises and lowers at least one of them along the height direction, The control means controls the massage drive unit and the lifting motor to cause one massage mechanism to perform the kneading or tapping motion, and to raise or lower the other massage mechanism along the height direction.

13. In a massage machine in which multiple massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of the user's height, The massage mechanism includes a first massage mechanism positioned relatively above and a second massage mechanism positioned relatively below. It comprises control means for controlling the operation of the first and second massage mechanisms, The first and second massage mechanisms each have a massage drive unit that causes at least one of the following to perform: a kneading motion in which the pair of massagers move closer together or further apart, or a tapping motion in which the pair of massagers move forward and backward alternately. The first and second massage mechanisms have a lifting motor that raises and lowers at least one of them along the height direction, The control means is characterized by controlling the massage drive unit and the lifting motor to raise or lower the other massage mechanism along the height direction while the pair of treatment elements of one massage mechanism are brought close together to grip the part to be treated.

14. In a massage machine in which multiple massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of the user's height, The massage mechanism includes a first massage mechanism positioned relatively above and a second massage mechanism positioned relatively below. It comprises control means for controlling the operation of the first and second massage mechanisms, The first and second massage mechanisms each have a massage drive unit that causes at least one of the following to perform: a kneading motion in which the pair of massagers move closer together or further apart, or a tapping motion in which the pair of massagers move forward and backward alternately. The first and second massage mechanisms have a lifting motor that raises and lowers at least one of them along the height direction, The control means is characterized by controlling the lifting motor to raise the second massage mechanism along the height direction while the first massage mechanism is positioned on the shoulder.

15. In a massage machine in which multiple massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of the user's height, The massage mechanism includes a first massage mechanism positioned relatively above and a second massage mechanism positioned relatively below. It comprises control means for controlling the operation of the first and second massage mechanisms, The first and second massage mechanisms each have a reciprocating drive unit that moves the treatment element forward and backward relative to the user. The first and second massage mechanisms are equipped with a lifting motor that moves them up and down along the direction of the user's height. The massage machine is characterized in that the control means controls the lifting motor and the forward / backward drive unit to synchronize the movement of the first and second massage mechanisms toward each other along the height direction with the advancement of the treatment elements of the first and second massage mechanisms.

16. In a massage machine in which multiple massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of the user's height, The massage mechanism includes a first massage mechanism positioned relatively above and a second massage mechanism positioned relatively below. It comprises control means for controlling the operation of the first and second massage mechanisms, The first and second massage mechanisms each have a reciprocating drive unit that moves the treatment element forward and backward relative to the user. The first and second massage mechanisms are equipped with a lifting motor that moves them up and down along the direction of the user's height. The massage machine is characterized in that the control means controls the lifting motor and the forward / backward drive unit to synchronize the movement of the first and second massage mechanisms in directions away from each other along the height direction with the advancement of the treatment elements of the first and second massage mechanisms.

17. In a massage machine in which a massage mechanism having a pair of treatment elements on the left and right sides is provided in multiple locations along the user's height direction on the backrest where the user leans, The massage mechanism includes a first massage mechanism positioned relatively above and a second massage mechanism positioned relatively below. It comprises control means for controlling the operation of the first and second massage mechanisms, The first and second massage mechanisms each have a massage drive unit that causes at least one of the following to perform: a kneading motion in which the pair of massagers move closer together or further apart, or a tapping motion in which the pair of massagers move forward and backward alternately. The massage machine is characterized in that the control means controls the massage drive unit to cause one massage mechanism to perform the kneading action or clamping by bringing the pair of treatment elements close together, and at the same time cause the other massage mechanism to perform an action including the tapping action.

18. In a massage machine in which multiple massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of the user's height, The massage mechanism includes a first massage mechanism positioned relatively above and a second massage mechanism positioned relatively below. It comprises control means for controlling the operation of the first and second massage mechanisms, The first and second massage mechanisms each have a massage drive unit that causes the pair of massagers to move closer together or further apart in a kneading motion. The massage machine is characterized in that the control means controls the massage drive unit so that the first massage mechanism and the second massage mechanism perform the kneading operation at different speeds from each other.

19. The massage machine according to claim 18, characterized in that the kneading action is performed by the treatment elements of the first and second massage mechanisms while the first massage mechanism and the second massage mechanism, or the treatment element of the first massage mechanism and the treatment element of the second massage mechanism, are in close proximity in the vertical direction.

20. The seat where the user sits, The seat has a reclining backrest provided at the rear of the seat, for the user to lean against. In a massage machine in which multiple massage mechanisms, each having a pair of treatment elements on the left and right sides, are provided along the direction of the user's height, The massage mechanism includes a first massage mechanism positioned relatively above and a second massage mechanism positioned relatively below. The system includes control means for controlling the operation of the first and second massage mechanisms and the reclining operation of the backrest, The massage machine is characterized in that the control means causes the following actions to be performed in sync: the action of grasping the neck with the treatment element of the first massage mechanism, the action of pressing the waist with the treatment element of the second massage mechanism, and the action of reclining the backrest backward.

21. The front of the seat has a footrest that is provided to support the user's lower limbs and is swivelable up and down, The footrest has a first pressing and holding means for pressing or holding the user's lower limbs, The massage machine according to claim 20, characterized in that the control means synchronizes the operation of holding the lower limb with the first pressing and holding means and the operation of lowering the footrest with the synchronized operation.

22. It has a second pressing and holding means for pressing or holding the user's upper arm or shoulder, The massage machine according to claim 20 or 21, characterized in that the control means synchronizes the operation of holding the upper arm or shoulder with the second pressing and holding means to the synchronized operation.

Images