Massage machine and control method for this massage machine

Abstract

The present invention provides a massage machine and its control method that allow for easy expansion of the adjustment range of the seat angle of the seating area and diversification of massage modes. [Solution] The seat portion 20 of the massage machine 1 is supported on the base portion 10 via a support member 80, and the seat portion drive device 50 adjusts the seat portion 20 by driving and moving the support member 80. The base portion 10 has a first guide rail and a second guide rail, and the support member 80 includes a front support member and a rear support member that can move independently of each other. The front support member is rotatably connected to the front end of the seat portion 20 and is guided and moved along the first guide rail by the drive of the seat portion drive device 50, thereby moving the front end of the seat portion 20 up and down in conjunction with the front support member. The rear support member is rotatably connected to the rear end of the seat portion 20 and is guided and moved along the second guide rail by the drive of the seat portion drive device 50, thereby moving the rear end of the seat portion 20 up and down in conjunction with the rear support member.

Description

Technical Field

[0001] The present invention relates to a massage machine and a control method thereof.

Background Art

[0002] Chinese Utility Model Patent No. 205548034 discloses a seating chair including a base frame, a main support movably supported on the base frame, and a drive mechanism that drives the main support via a swing arm and switches between a normal posture and a supine posture.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above seating chair, since the adjustment range of the seat surface angle of the seat portion of the main support is small, when the above seating chair is used as a massage chair, the types of massage modes are likely to be limited, and it is impossible to provide massage modes suitable for various postures of the recipient. On the other hand, if the swing arm is lengthened to expand the adjustment range of the seat surface angle of the seat portion, the entire massage chair is likely to become larger.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide a massage machine and a control method thereof that can provide a rich variety of massage modes suitable for various postures of the recipient by easily expanding the adjustment range of the seat surface angle of the seating portion.

Means for Solving the Problems

[0006] To achieve the above objective, the present invention provides a massage machine comprising a base portion, a seating portion, and a seating portion drive device, wherein the seating portion is supported by the base portion via a support member, the seating portion drive device adjusts the seating portion by driving and moving the support member, the base portion has a first guide rail and a second guide rail, the support member includes a front support member and a rear support member that can move independently of each other, the front support member is rotatably connected to the front end of the seating portion and is guided and moved along the first guide rail by the drive of the seating portion drive device, thereby moving the front end of the seating portion up and down in conjunction, and the rear support member is rotatably connected to the rear end of the seating portion and is guided and moved along the second guide rail by the drive of the seating portion drive device, thereby moving the rear end of the seating portion up and down in conjunction.

[0007] Here, "including a front support member and a rear support member that can move independently of each other" means that when one of the front support member and the rear support member moves, the other can remain stationary.

[0008] According to the massage machine of the present invention, the front support member and the rear support member can be independently driven and moved by the seating unit drive device, thereby moving the seating unit in conjunction with the base seat, and independently moving the front and rear ends of the seating unit up and down, which allows the seat angle of the seating unit to be freely adjusted and allows for a variety of massage modes.

[0009] Furthermore, in the massage machine of the present invention, the front support member includes a front link rotatably connected to the front end of the seating portion and a first guided member provided on the front link and moving along the first guide rail, and the rear support member includes a rear link rotatably connected to the rear end of the seating portion and a second guided member provided on the rear link and moving along the second guide rail.

[0010] Furthermore, in the massage machine of the present invention, the front link includes a first front link and a second front link rotatably connected via a front rotating shaft, the end of the first front link away from the front rotating shaft of the first front link is rotatably connected to the front end of the seating portion, and the end of the second front link away from the front rotating shaft of the second front link is rotatably connected to the bottom seat; the rear link includes a first rear link and a second rear link rotatably connected via a rear rotating shaft, the end of the first rear link away from the rear rotating shaft of the first rear link is rotatably connected to the rear end of the seating portion, and the end of the second rear link away from the rear rotating shaft of the second rear link is rotatably connected to the bottom seat.

[0011] According to the massage machine of the present invention, the engagement of the front link with the first guide rail and the engagement of the rear link with the second guide rail effectively restricts the posture and range of movement of the seating portion. By supporting the front link and rear link with the first and second guide rails, the first and second guide rails can receive a portion of the load of the massage machine from the front and rear, respectively, thereby making the lifting and lowering operation of the seating portion more stable. Furthermore, the front support member and the rear support member have a simple structure and are easy to manufacture.

[0012] Furthermore, in the massage machine of the present invention, the first guided member is provided in the middle of the length of the first front link, and the second guided member is provided in the middle of the length of the first rear link.

[0013] Furthermore, in the massage machine of the present invention, the first guided member is a roller, and the second guided member is a roller.

[0014] According to the massage machine of the present invention, when the seating drive device is operated, it is easier to ensure that the first front link and the second front link of the front link, and the first rear link and the second rear link of the rear link rotate smoothly.

[0015] Furthermore, in the massage machine of the present invention, the seating unit drive device includes a front drive device and a rear drive device, the front drive device has an extendable front link drive push rod, the rear drive device has an extendable rear link drive push rod, one end of the front link drive push rod is directly or indirectly rotatably connected to the middle of the first front link in the longitudinal direction and the other end is connected to the bottom seat, one end of the rear link drive push rod is directly or indirectly rotatably connected to the middle of the first rear link in the longitudinal direction and the other end is connected to the bottom seat.

[0016] According to the massage machine of the present invention, the seating drive device has a simple and compact structure, can easily output a large driving force, and can easily control the posture of the front and rear links according to the amount of extension and retraction.

[0017] Furthermore, in the massage machine of the present invention, in the front-to-rear direction, the drive push rod for the front link and the drive push rod for the rear link are located between the end of the second front link and the end of the second rear link.

[0018] According to the massage machine of the present invention, the seating drive mechanism is compact in the front-to-back direction, contributing to the miniaturization of the massage machine.

[0019] Furthermore, in the massage machine of the present invention, the other end of the drive push rod for the front link is rotatably connected to a position close to the end of the second rear link on the base portion, and the other end of the drive push rod for the rear link is rotatably connected to a position close to the end of the second front link on the base portion.

[0020] Within a limited space in the front-to-back direction, the amount of extension and retraction of the drive push rod is restricted, and the installation position and angle of the drive push rod affect the conversion of this extension and retraction amount into the travel distance of the seating area.

[0021] According to the massage machine of the present invention, it is possible to easily increase the amount of vertical movement of the front end and the rear end of the seating portion generated based on the amount of expansion and contraction of the drive push rod for the front link and the drive push rod for the rear link, and thereby further expand the adjustment range of the seat surface angle of the seating portion.

[0022] Furthermore, in the massage machine of the present invention, the first guide rail is formed so as to be positioned upward as it goes forward, and the second guide rail is formed so as to be positioned upward as it goes backward.

[0023] According to the massage machine of the present invention, it is possible to effectively utilize the front-rear dimension of the seating portion to expand the vertical movement range of the support member, and thereby further expand the adjustment range of the seat surface angle of the seating portion.

[0024] Furthermore, the massage machine of the present invention further includes a leg support portion and a backrest portion. The leg support portion is pivotally connected to the front end of the seating portion, and the backrest portion is pivotally connected to the base portion or pivotally connected to the rear end of the seating portion.

[0025] According to the massage machine of the present invention, by making the leg support portion and the backrest portion rotatable with respect to the seating portion, the massage modes can be further diversified.

[0026] Furthermore, the massage machine of the present invention further includes a leg support portion drive device and a backrest portion drive device. The leg support portion drive device moves the leg support portion with respect to the seating portion, and the backrest portion drive device moves the backrest portion with respect to the base or the seating portion.

[0027] Furthermore, to achieve the above object, the present invention provides a control method for a massage machine that controls the above massage machine. Here, the seat driving device, the leg support driving device, and the backrest driving device are controlled to cause the massage machine to execute at least one mode among a standing assist mode, a flat mode, a zero-gravity mode, a compression mode, and a lumbar stretch mode. In the standing assist mode, the front end of the seat surface of the seat part is made lower than the rear end or substantially the same height as the rear end. In the flat mode, the seat surface angle of the seat part is adjusted so that the seat part, the leg support part, and the backrest part are kept in a supine state of the subject with respect to each other. In the zero-gravity mode, the front end of the seat surface of the seat part is made higher than the rear end, the end of the leg support part away from the seat part is made lower than the end closer to the seat part, and the end of the backrest part away from the seat part is made higher than the end closer to the seat part. In the compression mode, the end of the leg support part away from the seat part and the end of the backrest part away from the seat part are brought closer to each other. In the lumbar stretch mode, the front end of the seat surface of the seat part is made lower than the rear end, and at least a part of the backrest part close to the seat part is made lower than the rear end of the seat part.

[0028] According to the massage machine of the present invention, the front support member and the rear support member are driven and moved by the front-side driving device and the rear-side driving device, respectively, so that the front end and the rear end of the seat part can be interlocked and independently moved up and down. Therefore, the seat surface angle of the seat part can be freely adjusted, and a rich variety of massage modes suitable for various postures of the subject can be provided. According to the control method of the massage machine of the present invention, by using the support member and the drive of this support member, the front end and the rear end of the seat part are independently moved up and down, and combined with the angles of the existing leg support part and backrest part, switching between various massage modes can be realized, and the massage modes can be enriched with limited space and a simplified structure.

Brief Description of the Drawings

[0029] [Figure 1]This is a schematic side view showing the frame of a massage machine according to an embodiment of the present invention, and also showing the state in the standing assistance mode. [Figure 2] This is a schematic side view showing the frame of a massage machine according to an embodiment of the present invention, and also showing the state in flat mode. [Figure 3] This is a schematic side view showing the frame of a massage machine according to an embodiment of the present invention, and also showing the state in zero-gravity mode. [Figure 4] This is a schematic side view showing the frame of a massage machine according to an embodiment of the present invention, and also showing the state in lumbar stretch mode. [Figure 5] This is a schematic side view showing the frame of a massage machine according to an embodiment of the present invention, and also showing the state in compression mode. [Figure 6] This is an exploded perspective view schematically showing the frame of a massage machine according to an embodiment of the present invention. [Figure 7] This is a schematic perspective view showing a partial structure of the frame of a massage machine according to an embodiment of the present invention. [Figure 8] This is another perspective view schematically showing a partial structure of the frame of a massage machine according to an embodiment of the present invention. [Figure 9] This is another perspective view schematically showing a partial structure of the frame of a massage machine according to an embodiment of the present invention. [Figure 10] This is another perspective view schematically showing a partial structure of the frame of a massage machine according to an embodiment of the present invention. [Figure 11] This is a schematic diagram illustrating the motion mechanism of the frame of a massage machine according to an embodiment of the present invention. [Figure 12] This is a schematic diagram illustrating the motion mechanism of the frame of a massage machine according to a modified example of the present invention. [Figure 13] This is a schematic perspective view showing a partial structure of the frame of a massage machine according to a modified example of the present invention. [Modes for carrying out the invention]

[0030] The following description of an embodiment of the present invention will be given with reference to Figures 1 to 10, using a massage chair as an example. However, this massage machine is not limited to a massage chair and can be used with other massage machines such as massage beds.

[0031] For the sake of explanation, the directions used to describe the structure of the massage machine will be those viewed from the perspective of a person seated in the massage machine. For example, the front side (front) of the massage machine as viewed from the perspective of a person seated in the massage machine will be referred to as the "front" or "forward," the rear side (back) as the "rear" or "backward," the upper side (head) as the "upper" or "upward," the lower side (legs) as the "lower" or "downward," the right side as the "right" or "rightward," and the left side as the "left" or "leftward."

[0032] [Embodiment] (Overall structure of the massage machine) As shown in Figure 1, the massage machine 1 includes a base seat 10, a seating section 20, and a seating section drive device 50. The seating section 20 is supported by the base seat 10 via a support member 80. The seating section drive device 50 moves the seating section 20 relative to the base seat 10 and adjusts the seat angle A of the seating section 20 by driving and moving the support member 80. The seat angle A is the angle that the upper surface portion (seat surface) of the seating section 20 that comes into contact with the buttocks and thighs of the person being treated makes with respect to the horizontal plane when the seating section 20 is in use, and is also called the seat angle.

[0033] Here, as shown in Figure 1, the massage machine 1 further includes a leg support section 30 and a backrest section 40. The leg support section 30 is rotatably connected to the front end of the seat section 20. The backrest section 40 is rotatably connected to the base seat section 10.

[0034] Furthermore, as shown in Figure 1, the massage machine 1 further includes a leg support drive unit 60 and a backrest drive unit 70. The leg support drive unit 60 rotates the leg support unit 30 relative to the seating unit 20. The backrest drive unit 70 rotates the backrest unit 40 relative to the base seat unit 10.

[0035] Furthermore, although not shown in the figures, the massage machine 1 further includes a control unit that controls the seating unit drive unit 50, the leg support unit drive unit 60, and the backrest unit drive unit 70.

[0036] (Structure of the base) As shown in Figures 1 and 6, the base portion 10 is a support frame that supports the entire functional component, including the leg support portion 30, the seat portion 20, and the backrest portion 40.

[0037] Although not shown in the diagram, in practice, a base cover portion (which may be made of plastic or the like) is usually provided to cover the base portion 10.

[0038] Furthermore, as shown in Figures 1, 6, and 7, the base portion 10 includes a base portion 11, a guide rail portion 12, a first connecting portion 13, and a second connecting portion 14. The bottom surface of the base portion 11 is in contact with a supporting surface such as the ground, and the surface on which the base portion 11 is located can also be considered as the base surface. The guide rail portion 12 is located above the base portion 11 and is connected to the base portion 11 via the first connecting portion 13. The second connecting portion 14 protrudes upward from the base portion 11 and the lower part of the support member 80 is connected to it.

[0039] Specifically, as shown in Figures 1, 6, and 7, the bottom portion 11 is configured as a base that supports the support frame and includes a pair of first bottom horizontal rods 111 that extend along the front-rear direction and are spaced apart in the left-right direction, and a plurality of second bottom horizontal rods 112 that extend along the left-right direction and are spaced apart in the front-rear direction, connecting the pair of first bottom horizontal rods 111 to each other.

[0040] The guide rail section 12 is plate-shaped with its thickness direction coinciding with the left-right direction, and a pair of them are provided spaced apart in the left-right direction. Each pair of guide rail sections 12 has a first guide rail 121 and a second guide rail 122. The first guide rail 121 is made up of grooves. The upper end of the first guide rail 121 is located in front of the lower end and is formed as a curve that rises upward as it moves forward (in the illustrated example, there is a curve that is convex towards the rear and upward and gradually rises from the rear and downward to the front and upward, but it is not limited to this and may be formed as a curve that is convex towards the front and downward, or as a curve that is convex only towards the front or rear). The second guide rail 122 is located behind the first guide rail 121. The second guide rail 122 is formed by a groove, and the upper end of the second guide rail 122 is located further back than the lower end, forming a curve that becomes higher towards the rear (in the illustrated example, one section is convex towards the front and upward, forming a curve that gradually rises from the front and downward to the rear and upward, but it is not limited to this, and it may be formed as a curve that is convex towards the rear and downward, or as a curve that is convex only towards the front or rear). The length and vertical position of the first guide rail 121 and the second guide rail 122 are substantially the same. In this embodiment, the curvature of the curves of the first guide rail 121 and the second guide rail 122 changes. However, it is not limited to this, and the first guide rail 121 and the second guide rail 122 may each be partial curves (circular arcs) with a constant curvature, and the first guide rail 121 and the second guide rail 122 may have the same curvature.

[0041] The first connecting section 13 includes a pair of first vertical rods 131, a pair of second vertical rods 132, a pair of first horizontal rods 133, a second horizontal rod 134, and a third vertical rod 135. The pair of first vertical rods 131 extend vertically and are spaced apart horizontally. Their lower ends are connected near the front end of the bottom first horizontal rod 111, and their middle sections in the vertical direction are fixedly connected to the front end of the guide rail section 12. The pair of first vertical rods 131 are further provided with first limit pins 136. These first limit pins 136 contact the second front link 8112 of the support member 80, thereby limiting the rotation range of the second front link 8112 and preventing it from rotating beyond the front of the first limit pins 136. Each pair of second vertical rods 132 is located behind each pair of first vertical rods 131 and is spaced apart from them. Each pair of second vertical rods 132 extends vertically and is spaced apart in the left-right direction. Their lower ends are fixedly connected to approximately the center of the longitudinal direction of the bottom first horizontal rod 111, and their middle sections in the vertical direction are connected to the rear end of the guide rail section 12. As a result, the guide rail section 12 extends in the front-rear direction and is provided between the spaced-apart first vertical rods 131 and second vertical rods 132. Each pair of first horizontal rods 133 extends inclined with respect to the front-rear direction (in the illustrated example, the front end is higher than the rear end, but this is not limited to this), is spaced apart in the left-right direction, and connects the upper ends of the first vertical rods 131 and the upper ends of the second vertical rods 132 on both the left and right sides, respectively. The second horizontal rod 134 extends along the left-right direction and connects the pair of first vertical rods 131 midway in the vertical direction. The third vertical rod 135 connects the second horizontal rod 134 to the midway point in the longitudinal direction of the frontmost bottom second horizontal rod 112.

[0042] The second connecting section 14 includes a pair of vertical rods 141. The pair of vertical rods 141 extend vertically, are spaced apart horizontally, and are each pivotally connected to the second rear link 8212 of the support member 80. The pair of vertical rods 141 are located slightly behind the second vertical rod 132, and their lower ends are fixedly connected to approximately the center of the longitudinal direction of the bottom first horizontal rod 111. The pair of vertical rods 141 are further provided with a second limit pin 142, which contacts the second rear link 8212 of the support member 80 to restrict the range of rotation of the second rear link 8212. For example, the second limit pin 142 can prevent the second rear link 8212 from rotating to a position behind the second limit pin 142. The second limit pin 142 may be provided on the second vertical rod 132, or a limit member may be provided on the guide rail to limit the rotation range of the support member 80. The support member 80 may be rotatably connected to the second vertical rod 132.

[0043] (Structure of the seating area) As shown in Figures 1 and 6, the seating portion 20 is a support frame for supporting the buttocks and thighs of the person receiving treatment.

[0044] Although not shown in the illustration, a seating cover is usually provided to cover the seating area 20 (the part that comes into contact with the buttocks and thighs of the person receiving treatment is made of, for example, leather, fabric, etc.).

[0045] Furthermore, as shown in Figures 1, 6, and 7, the seating section 20 includes a seating body 21, a pair of side massage members 22, a first connecting rod 23, and a second connecting rod 24. The upper surface of the seating body 21 supports, for example, the buttocks and thighs of the person being treated. The pair of side massage members 22 protrude upward from the seating body 21 and massage, for example, the buttocks and thighs of the person being treated. The first connecting rod 23 is used to connect to the leg drive link 62 of the leg support drive unit 60. The second connecting rod 24 is used to connect to the leg drive push rod 61 of the leg support drive unit 60.

[0046] Specifically, the seating body 21 includes a seat plate 211 and a pair of seating crossbars 212. The seat plate 211 is substantially rectangular in shape, with its width coinciding with the left-right direction. The pair of seating crossbars 212 are fixed to the left and right edges of the seat plate 211. The pair of side massage members 22 extend upward from the left and right edges of the seat plate 211. Both ends of the first connecting rod 23 are connected to the lower front ends of the pair of seating crossbars 212. The second connecting rod 24 is substantially U-shaped, with both ends protruding downward from the seating body 21 and extending inclined toward the rear, and further connected to each other along the left-right direction, with both ends connected to the middle of the longitudinal direction of the pair of seating crossbars 212.

[0047] (Structure of the support member) As shown in Figures 1, 6, 8, 9, and 10, the support member 80 includes a front support member 81 and a rear support member 82 that can move independently of each other. The front support member 81 is rotatably connected to the front end of the seating portion 20 and is guided and moved along the first guide rail 121 by the drive of the seating portion drive device 50 (specifically the front drive device described below), thereby moving the front end of the seating portion 20 up and down in conjunction with each other. The rear support member 82 is rotatably connected to the rear end of the seating portion 20 and is guided and moved along the second guide rail 122 by the drive of the seating portion drive device 50 (specifically the rear drive device described below), thereby moving the rear end of the seating portion 20 up and down in conjunction with each other.

[0048] Here, as shown in Figures 1, 6, 7, 8, 9 and 10, the front support member 81 includes a front link 811 that is rotatably connected to the front end of the seating portion 20, and a first guided member 812 provided on the front link 811 and moving along the first guide rail 121. The rear support member 82 includes a rear link 821 that is rotatably connected to the rear end of the seating portion 20, and a second guided member 822 provided on the rear link 821 and moving along the second guide rail 122.

[0049] Specifically, the front links 811 are provided in pairs, spaced apart in the left-right direction. Each pair of front links 811 includes a first front link 8111 and a second front link 8112, which are rotatably connected via a front rotating shaft J1. The end of the first front link 8111 away from the front rotating shaft J1 (the upper end in the illustrated example) is rotatably connected to the front end of the seating portion 20 (the front end of the seating portion horizontal rod 212 of the seating body 21 in the illustrated example), and the end of the second front link 8112 away from the front rotating shaft J1 (the lower end in the illustrated example) is rotatably connected to the bottom seat portion 10 (the first vertical rod 131 in the illustrated example). The length of the first front link 8111 is longer than the length of the second front link 8112. The rear links 821 are provided in pairs, spaced apart in the left-right direction. The pair of rear links 821 each include a first rear link 8211 and a second rear link 8212, which are rotatably connected via a rear rotation shaft J2. The end of the first rear link 8211 away from the rear rotation shaft J2 (the upper end in the illustrated example) is rotatably connected to the rear end of the seating portion 20 (the rear end of the seating portion horizontal rod 212 of the seating body 21 in the illustrated example), and the end of the second rear link 8212 away from the rear rotation shaft J2 (the lower end in the illustrated example) is rotatably connected to the bottom seat portion 10 (the vertical rod 141 in the illustrated example). The length of the first rear link 8211 is longer than the length of the second rear link 8212. A pair of first guided members 812 are provided spaced apart in the left-right direction. A pair of first guided members 812 are each provided midway along the length of a pair of first front links 8111 (in the illustrated example, these are rollers, but they may also be sliders, etc.). A pair of second guided members 822 are provided spaced apart in the left-right direction. A pair of second guided members 822 are each provided midway along the length of a first rear link 8211 (in the illustrated example, these are rollers, but they may also be sliders, etc.).

[0050] Furthermore, as shown in Figures 1, 6, 8, 9, and 10, the front support member 81 further includes a front transverse rod 813 that connects the left and right front links 811. In this embodiment, the front transverse rod 813 connects the left and right first front links 8111 at points along their length. The front transverse rod 813 is connected to the first front links 8111 at a distance from the front rotation shaft portion J1. The pair of first guided members 812 are each located outside the connection points between the front transverse rod 813 and the left and right first front links 8111. The rear support member 82 further includes a rear transverse rod 823 that connects the left and right rear links 821. In this embodiment, the rear transverse rod 823 connects the left and right first rear links 8211 at points along their length. The rear transverse rod 823 is connected to the first rear link 8211 at a distance from the rear rotation shaft portion J2. The pair of second guided members 822 are each located outside the connection points between the rear transverse rod 823 and the left and right first rear links 8211. As described above, in this embodiment, the first guided member 812 and the second guided member 822 are provided at a distance from the front rotation shaft portion J1 and the rear rotation shaft portion J2, respectively. However, the embodiment is not limited to this, and the first guided member 812 and the second guided member 822 may be installed outside the front rotation shaft portion J1 and the rear rotation shaft portion J2, respectively. The front transverse rod 813 and the rear transverse rod 823 may connect to the second front link 8112 and the second rear link 8212, respectively, or they may connect to the left and right front rotation shaft portions J1 and the rear rotation shaft portions J2, respectively.

[0051] (Structure of the seating mechanism) As shown in Figures 1 and 6, the seating drive unit 50 includes a front drive unit and a rear drive unit.

[0052] Here, as shown in Figures 1, 6, 7, and 8, the front drive device is a retractable front link drive push rod 51. One end of the front link drive push rod 51 is directly or indirectly pivotably connected to the middle of the front link 811 in the longitudinal direction, and the other end is connected to the bottom seat portion 10 (the rearmost bottom second transverse rod 112 in the illustrated example). The rear drive device is a retractable rear link drive push rod 52. One end of the rear link drive push rod 52 is directly or indirectly pivotably connected to the middle of the rear link 821 in the longitudinal direction, and the other end is connected to the bottom seat portion 10 (the frontmost bottom second transverse rod 112 in the illustrated example).

[0053] Specifically, the drive push rod 51 for the front link has a first portion and a second portion that is extendable and retractable relative to the first portion. The lower end of the drive push rod 51 for the front link (located in the first portion) is hinged to the bottom seat portion 10, specifically the rearmost bottom second transverse rod 112, and is rotatable in the circumferential direction of the bottom second transverse rod 112. The upper end of the drive push rod 51 for the front link (located in the second portion) is hinged to the front transverse rod 813, and in this embodiment, is hinged to the front transverse rod 813 that connects a pair of first front links 8111 midway along their length.

[0054] Similarly, the rear link drive push rod 52 has a first portion and a second portion that is extendable relative to the first portion. The lower end of the rear link drive push rod 52 (located in the first portion) is hinged to the bottom seat 10, specifically the foremost bottom second transverse rod 112, and is rotatable in the circumferential direction of the bottom second transverse rod 112. The upper end of the rear link drive push rod 52 (located in the second portion) is hinged to the rear transverse rod 823, which in this embodiment is hinged to the rear transverse rod 823 that connects a pair of first rear links 8211 midway along their length.

[0055] As shown in Figures 1, 7, and 8, in the front-rear direction, the drive push rod 51 for the front link and the drive push rod 52 for the rear link are located between the end of the second front link 8112 away from the front rotating shaft (the lower end in the illustrated example) and the end of the second rear link 8212 away from the rear rotating shaft (the lower end in the illustrated example).

[0056] The extension and retraction of the seating section drive device 50 causes the seating section 20 to rotate relative to the hinge connection with the support member 80, moving the front or rear end of the seating section 20 vertically. This changes the positional relationship between the seat surface of the seating section 20 and the base seat 10, thereby changing the seat angle A formed by the seat surface of the seating section 20 and the horizontal plane. As described later, by adjusting the seat angle A of the seating section and combining this with control of the leg support and backrest, multiple states of the massage machine can be created.

[0057] (Leg support part) As shown in Figures 1 and 6, the leg support section 30 is a lower limb support frame for supporting the lower limbs of the person receiving treatment.

[0058] Although not shown in the diagram, a leg cover portion is usually provided to cover the leg support portion 30 (the portion that comes into contact with the patient's lower leg during use is made of, for example, leather, fabric, etc.).

[0059] Furthermore, as shown in Figures 1 and 6, the leg support section 30 includes a footboard 31, a connecting plate 32, and a partition plate 33. The footboard 31 is for resting the patient's feet and has a roughly rectangular shape. The length of the footboard 31 coincides with the left-right direction. The connecting plate 32 pivotally connects the end of the footboard 31 (the upper end in the illustrated example) to the front end of the seating section 20 (the front end of the pair of seating section crossbars 212 in the illustrated example). The partition plates 33 protrude from the footboard 31 and the connecting plate 32 (extending forward and upward in the illustrated example) and are provided in three, spaced apart in the left-right direction. A space for accommodating the patient's legs is formed between adjacent partition plates 33.

[0060] (Structure of the leg support drive mechanism) As shown in Figures 1 and 6, the leg support drive device 60 is located in the vertical direction between the seat surface of the seating portion 20 and the bottom portion 11 of the bottom seat portion 10.

[0061] Here, as shown in Figures 1 and 6, the leg support drive device 60 includes a leg drive push rod 61 and a leg drive link 62.

[0062] Specifically, the leg drive push rod 61 has a first portion and a second portion that is extendable and retractable relative to the first portion. The rear end of the leg drive push rod 61 (located in the first portion) is hinged to the seat portion 20, specifically the second connecting rod 24, and is rotatable in the circumferential direction of the second connecting rod 24. The front end of the leg drive push rod 61 (located in the second portion) is extendable and retractable relative to the rear end, is connected to the leg drive link 62 midway along its length, and is rotatable in the front-rear direction relative to the connection with the leg drive link 62. One end of the leg drive link 62 is hinged to the first connecting rod 23 and is rotatable in the circumferential direction of the first connecting rod 23. A roller is provided at the other end of the leg drive link 62. The roller of the leg drive link 62 slides in contact with the leg support portion 30 so as to be able to support the leg support portion 30.

[0063] Furthermore, when the leg support drive device 60 drives the second portion of the leg drive push rod 61 to extend and retract relative to its first portion, the extension and retraction of the second portion causes the leg drive link 62 to move synchronously in conjunction with the leg drive link 62 via a hinge connection to the middle of the leg drive link 62. In addition, one end of the leg drive link 62 is rotatably hinged to the first connecting rod 23 of the seating portion 20, so that the leg drive link 62 rotates relative to the front of the seating portion 20, and at the same time, the position of the roller provided at the front end of the leg drive link 62 can be changed in the front-rear and up-down directions. As the position of the roller changes in the front-rear and up-down directions, the leg support portion 30, which is supported by the roller, moves accordingly. As a result, the leg support portion 30 rotates relative to the seating portion 20, changing the leg angle B formed by the front surface of the leg support portion 30 in Figure 1 and the seat surface of the seating portion 20.

[0064] (Backrest) As shown in Figures 1 and 6, the backrest portion 40 is a support frame for supporting the back of the person receiving treatment, and is rotatably connected to the upper rear end of the base portion 10 (the upper end of the second vertical rod 132 or the rear end of the first horizontal rod 133 of the first connecting portion 13).

[0065] Although not shown in the diagram, in reality, a backrest cover is usually provided to cover the backrest portion 40, and the part that comes into contact with the patient's back during use is made of, for example, leather, fabric, etc.

[0066] Here, as shown in Figures 1 and 6, the backrest portion 40 includes a plate portion 41 and a frame portion 42. The plate portion 41 is roughly U-shaped, and the ends near the U-shaped opening are rotatably connected to the upper ends of a pair of second vertical rods 132. The frame portion 42 is provided stacked with the plate portion 41 in the thickness direction of the backrest portion 40 (in the illustrated example, the frame portion 42 is located on the rear side of the plate portion 41). The lower end of the frame portion 42 (i.e., the end near both ends of the U-shaped opening of the plate portion 41) is rotatably connected to the backrest drive device 70.

[0067] (Structure of the backrest drive mechanism) As shown in Figures 1 and 6, the backrest drive unit 70 is located in the vertical direction between the seat surface of the seat portion 20 and the bottom portion 11 of the bottom seat portion 10.

[0068] Here, as shown in Figures 1 and 6, the backrest drive device 70 includes a backrest drive push rod 71.

[0069] Specifically, the backrest drive push rod 71 has a first part and a second part that is extendable relative to the first part. The first part is rotatably connected to the base 10. The second part is rotatably connected to the backrest 40. For example, the lower end of the backrest drive push rod 71 (located in the first part) is hinged to the base 10, specifically to the third vertical rod 135. The upper end of the backrest drive push rod 71 (located in the second part) is hinged to the lower end of the backrest 40, specifically to the frame 42.

[0070] Furthermore, the extension and retraction of the backrest drive device 70 allows the backrest 40 to be driven and rotated relative to the hinge connection with the base seat 10, thereby changing the backrest angle C formed by the front surface of the backrest 40 and the seat surface of the seat 20.

[0071] (Massage mode) By controlling the seating drive unit 50, the leg support drive unit 60, and the backrest drive unit 70, for example, by extending or retracting the seating drive unit 50, the leg support drive unit 60, and the backrest drive unit 70, the massage machine 1 can provide any of the following massage machine states: standing assistance mode, flat mode, zero-gravity mode, lumbar stretch mode, and compression mode, and can switch between multiple states. This allows the person receiving treatment to experience massage in different postures and positions, and allows the person receiving treatment to easily stand up after the massage is finished.

[0072] The standing assistance mode refers to a state that makes it easier for the person receiving treatment to stand up from the massage machine 1.

[0073] Here, as shown in Figure 1, in the standing assistance mode, the roller constituting the first guided member 812 is located at the lowest end of the groove constituting the first guide rail 121, and the roller constituting the second guided member 822 is located at the upper end of the groove constituting the second guide rail 122. As a result, the front end of the seat surface of the seating portion 20 (in the illustrated example, this is the upper surface of the seat plate portion 211, and if a seating portion cover portion is provided, this corresponds to the portion of the seating portion cover portion that comes into contact with the buttocks and thighs of the person being treated during use) is lower than the rear end. The seat surface angle A formed by the seat surface of the seating portion 20 with respect to the horizontal plane (the bottom surface of the bottom seat portion 10) can be set to an angle of 5° to 40°. Of course, the seat surface angle A can be designed as appropriate. For example, in the standing assistance mode, the seat angle A can be pre-set to a predetermined angle such as 5°, 10°, 15°, 20°, 25°, or 30°. Alternatively, the person receiving treatment can fine-tune the seat angle A to an angle that satisfies them. In addition, the backrest 40 is in an upright position relative to the seat 20, for example, the backrest angle C is close to 90°.

[0074] For example, when adjusting the massage machine 1 from the zero-gravity mode (Figure 3), which will be described later, to the standing-up assist mode, the seat angle of the seat is adjusted by controlling the extension and retraction of the front link drive push rod 51 and the rear link drive push rod 52 of the seat drive device 50, respectively, so that the rear end of the seat is higher than the front end, making it easier for the person being treated to stand up from the massage machine. Specifically, when the rear link drive push rod 52 is controlled to extend, the rear transverse rod 823, which is hinged to the second part of the rear link drive push rod 52, is pushed and moved backward, and the rear transverse rod 823 tends to rotate backward together with the first rear link 8211 and the second rear link 8212 via the rear rotation shaft J2. As a result, the second guided members 822 located on both the left and right sides of the rear link 821 tend to move backward. Furthermore, the second guided member 822 is movably fitted along the second guide rail 122, which gradually rises from the front lower to the rear upper. When the second guided member 822 is linked to the rear by the rear link 821, the second guided member 822 tends to move upward along with the corresponding position of the rear link 821. As a result of the rearward and upward movement tendency of the second guided member 822, the angle between the first rear link 8211 and the second rear link 8212 changes from small to large, causing the upper end of the first rear link 8211 to be displaced vertically and move upward, raising the rear end of the seat. When the rear end of the seat rises, the seat surface of the seat rotates around the hinge connection position between the front end of the seat and the first front link 8111 as the axis of rotation, and the seat angle changes.

[0075] When the drive push rod 51 for the front link is controlled to retract, the front transverse rod 813, which is hinged to the second portion of the drive push rod 51 for the front link, moves backward in conjunction with it. The front transverse rod 813 tends to rotate backward together with the first front link 8111 and the second front link 8112 via the front rotating shaft portion J1. As a result, the first guided members 812 located on both the left and right sides of the front link 811 tend to move backward. Furthermore, the first guided members 812 are movably fitted along the first guide rail 121, which gradually descends from the front upper to the rear lower. When the first guided members 812 are moved backward by the front link 811, the first guided members 812 tend to move downward together with the corresponding position of the front link 811. As a result, the tendency of the first guided member 812 to move rearward and downward causes the angle between the first front link 8111 and the second front link 8112 to change from large to small, displacing the upper end of the first front link 8111 vertically and moving downward, causing the front end of the seat to descend. When the front end of the seat descends, the seat surface of the seat rotates around the hinge connection point between the rear end of the seat and the first rear link 8211 as the axis of rotation, and the angle of the seat surface changes.

[0076] As described above, the driving principle for adjusting from the zero-gravity mode to the standing-up assist mode, which will be described later, has been explained, but the explanation for adjusting from the standing-up assist mode to the zero-gravity mode will be omitted. When adjusting the extension and retraction states of the front link drive push rod 51 and the rear link drive push rod 52, the adjustment may be performed sequentially in chronological order or synchronously, and is not limited to this embodiment.

[0077] Furthermore, as shown in Figure 2, in flat mode, the roller constituting the first guided member 812 is positioned at the lowest end of the groove constituting the first guide rail 121, and the roller constituting the second guided member 822 is positioned at the lowest end of the groove constituting the second guide rail 122, thereby adjusting the seat angle of the seating portion 20 (in the illustrated example, the front end of the seat is slightly higher than the rear end). Also, in flat mode, the seating portion 20, the leg support portion 30, and the backrest portion 40 form a state in which the patient's supine posture is maintained. For example, the leg support surface of the leg support section 30 (in the illustrated example, the upper surface of the connecting plate 32, and if a leg support cover is provided, the part corresponding to the leg support cover that comes into contact with the lower leg of the person being treated during use) has a leg angle B formed with respect to the seat surface of the seat section 20 that is slightly greater than 180°, and the back support surface of the backrest section 40 (in the illustrated example, the upper surface of the backrest section 40, and if a backrest cover is provided, the part corresponding to the backrest cover that comes into contact with the back of the person being treated during use) has a backrest angle C formed with respect to the seat surface of the seat section 20 that is slightly less than 180°.

[0078] To put the massage machine 1 into flat mode, the leg support section 30 is driven and rotated via the leg support section drive device 60 (specifically, by rotating the leg drive link 62 by extending and retracting the leg drive push rod 61), and the leg angle B can be set to any angle within a predetermined range. By extending and retracting the front link drive push rod 51 and the rear link drive push rod 52, the front link 811 and the rear link 821 are driven and rotated, and the first guided member 812 and the second guided member 822 slide along the first guide rail 121 and the second guide rail 122, respectively, thereby rotating the seat section 20 in conjunction, and the seat surface angle A of the seat section 20 can be set to a predetermined angle. After that, the backrest section 40 is driven and rotated via the backrest section drive device 70 (specifically, by extending and retracting the backrest section drive push rod 71), and the backrest section angle C can be set to an angle within a predetermined range. After adjusting the backrest angle C to a predetermined angle, the seating unit drive device 50 is driven to rotate the seating unit 20, setting the seat angle A of the seating unit 20 to a predetermined angle. Additionally, the leg support unit 30 can be driven and rotated via the leg support unit drive device 60 to set the leg angle B to any angle within a predetermined range. By adjusting the seat angle A, leg angle B, and backrest angle C, the leg support unit, seating unit, and backrest unit work together to create a state suitable for the patient to lie on their back.

[0079] Furthermore, the zero-gravity mode refers to a state in which the patient's torso and legs are positioned at an angle of approximately 128 ± 8 degrees. In this state, the seat angle A of the seating section 20 is approximately 35° ± 5°, and the backrest section 40 forms a V-shaped angle with respect to the seating section 20, for example, approximately 128 ± 8 degrees. When the patient is in zero-gravity mode, the heart and knees are at approximately the same height, or the patient's lower limbs, such as the feet, are higher than the heart. This contributes to promoting blood circulation and reducing the burden on the heart. At the same time, the patient's weight is evenly distributed, preventing excessive load on one or more parts of the body and maximally reducing pressure on muscles and bones.

[0080] Here, as shown in Figure 3, in the zero-gravity mode, the roller constituting the first guided member 812 is located at the uppermost end of the groove constituting the first guide rail 121, and the roller constituting the second guided member 822 is located at the lowermost end of the groove constituting the second guide rail 122. As a result, the front end of the seat surface of the seating portion 20 is higher than the rear end (in the illustrated example, the front end is significantly higher than the rear end).

[0081] To put the massage machine 1 into a zero-gravity mode, the leg support section 30 is driven and rotated via the leg support section drive device 60, allowing the leg angle B to be set to any angle within a predetermined range. The front link 811 and the rear link 821 are driven and rotated via the seat section drive device 50 (specifically, the extension and retraction of the front link drive push rod 51 and the rear link drive push rod 52), causing the first guided member 812 and the second guided member 822 to slide along the first guide rail 121 and the second guide rail 122, respectively, thereby driving and rotating the seat section 20 to set the seat surface angle A of the seat section 20 to a predetermined angle. Then, the backrest section 40 is driven and rotated via the backrest section drive device 70 (specifically, the extension and retraction of the backrest section drive push rod 71), allowing the backrest angle C to be set to an angle within a predetermined range. After adjusting the backrest angle C to a predetermined angle, the seat drive unit 50 is driven to rotate the front link 811 and the rear link 821, causing the first guided member 812 and the second guided member 822 to slide in conjunction along the first guide rail 121 and the second guide rail 122, respectively. This expands or contracts the seat angle A, adjusts the height of the front end of the seat 20, and allows the front end of the seat 20 to be set higher, equal to, or lower than a specific position on the backrest 40. In zero-gravity mode, the specific position on the backrest 40 refers to the position of the backrest 40 corresponding to the patient's heart. The position of the patient's heart can be detected or estimated using conventional body shape detection methods.

[0082] Furthermore, as shown in Figure 4, in the lumbar stretch mode, the roller constituting the first guided member 812 is located at the lowest end of the groove constituting the first guide rail 121, and the roller constituting the second guided member 822 is located at the upper end of the groove constituting the second guide rail 122. As a result, the front end of the seat surface of the seating portion 20 is lower than the rear end (in the illustrated example, the front end is significantly lower than the rear end). Also, at least a portion of the backrest portion 40 that is close to the seating portion 20 is lower than the rear end of the seating portion 20. In the lumbar stretch mode, the leg angle B of the leg support portion 30 and the backrest angle C of the backrest portion 40 can be set as appropriate as needed. For example, the leg angle B of the leg support portion 30 can be set to slightly greater than 180°, and the backrest angle C of the backrest portion 40 can be set to slightly less than 180°.

[0083] To put the massage machine 1 into lumbar stretch mode, the front link 811 and rear link 821 are driven and rotated via the seating unit drive device 50 (specifically, the extension and retraction of the front link drive push rod 51 and the rear link drive push rod 52), causing the first guided member 812 and the second guided member 822 to slide along the first guide rail 121 and the second guide rail 122, respectively. This rotates the seating unit 20 in conjunction, setting the seat surface angle A of the seating unit 20 to a predetermined angle. Then, the backrest unit 40 is driven and rotated via the backrest unit drive device 70 (specifically, the extension and retraction of the backrest unit drive push rod 71), setting the backrest angle C to an angle within a predetermined range. After adjusting the backrest angle C to a predetermined angle, the seating unit drive device 50 is driven to rotate the seating unit 20, thereby setting the seat surface angle A of the seating unit 20 to a predetermined angle.

[0084] Furthermore, as shown in Figure 5, in compression mode, the roller constituting the first guided member 812 is located at the uppermost end of the groove constituting the first guide rail 121, and the roller constituting the second guided member 822 is located at the lowermost end of the groove constituting the second guide rail 122. As a result, the front end of the seat surface of the seating portion 20 is higher than the rear end (in the illustrated example, the front end is significantly higher than the rear end). Also, the end of the leg support portion 30 away from the seating portion 20 and the end of the backrest portion 40 away from the seating portion 20 move closer to each other. In compression mode, the leg angle B of the leg support portion 30 and the backrest angle C of the backrest portion 40 can be set as appropriate as needed. For example, the leg angle B of the leg support portion 30 can be set to slightly greater than 180°, and the backrest angle C of the backrest portion 40 can be set to an angle close to 90°.

[0085] In order to put the massage machine 1 into compression mode, the leg support 30 is driven and rotated via the leg support drive device 60 (specifically, by rotating the leg drive link 62 by extending and retracting the leg drive push rod 61), so that the leg angle B can be set to any angle within a predetermined range. The front link 811 and the rear link 821 are driven and rotated via the seating section drive device 50 (specifically, the extension and retraction of the drive push rod 51 for the front link and the drive push rod 52 for the rear link), causing the first guided member 812 and the second guided member 822 to slide along the first guide rail 121 and the second guide rail 122, respectively. This rotates the seating section 20 in conjunction, setting the seat surface angle A of the seating section 20 to a predetermined angle. Then, the backrest section 40 is driven and rotated via the backrest section drive device 70 (specifically, the extension and retraction of the backrest section drive push rod 71), allowing the backrest section angle C to be set to an angle within a predetermined range. After adjusting the backrest angle C to a predetermined angle, the seating unit drive device 50 is driven to rotate the seating unit 20, setting the seat angle A of the seating unit 20 to a predetermined angle. Additionally, the leg support unit 30 can be driven and rotated via the leg support unit drive device 60 to set the leg angle B to any angle within a predetermined range. By adjusting the seat angle A, leg angle B, and backrest angle C, the leg support unit, seating unit, and backrest unit work together to configure the seating unit or the relative position of the seating unit and backrest unit to correspond to the lowest part of the human body (e.g., the buttocks or lower back).

[0086] (Main effects of this embodiment) According to the massage machine 1 of this embodiment, the front support member 81 and the rear support member 82 are driven and moved using the front drive device and the rear drive device, respectively, thereby allowing the front and rear ends of the seating section 20 to move vertically independently in conjunction with each other. Therefore, the adjustment range of the seat surface angle A of the seating section 20 can be freely adjusted, and the massage modes can be diversified.

[0087] Furthermore, according to the massage machine 1 of this embodiment, in the front-to-rear direction, the drive push rod 51 for the front link and the drive push rod 52 for the rear link are located between the lower end of the second front link 8112 and the lower end of the second rear link 8212. Therefore, the seating drive device 50 can be made compact in the front-to-rear direction, contributing to the miniaturization of the massage machine 1.

[0088] Furthermore, in the massage machine of the present invention, the lower end of the drive push rod 51 for the front link is rotatably connected to the rear portion of the base seat 10, and the lower end of the drive push rod 52 for the rear link is rotatably connected to the front portion of the base seat 10. As a result, the amount of vertical movement of the front and rear ends of the seating portion 20, which is generated based on the extension and contraction amounts of the drive push rod 51 for the front link and the drive push rod 52 for the rear link, can be easily increased, and the adjustment range of the seat surface angle A of the seating portion 20 can be further expanded.

[0089] Although the present invention has been described illustratively with reference to the drawings, it is clear that the specific realization of the present invention is not limited to the embodiments described above.

[0090] For example, in the embodiment described above, the backrest portion 40 is rotatably connected to the base portion 10. However, it is not limited to this, and the backrest portion 40 may also be rotatably connected to the rear end of the seat portion 20. In this case, the backrest drive device 70 may be configured to move the backrest portion 40 relative to the seat portion 20.

[0091] Furthermore, in the above-described embodiment, the first guide rail 121 and the second guide rail 122 are arranged in the front-to-back direction, but the invention is not limited to this, and the first guide rail 121 and the second guide rail 122 may be arranged in the up-and-down direction or in the left-to-right direction.

[0092] Furthermore, in the above-described embodiment, the length and radius of the first guide rail 121 and the second guide rail 122 are substantially the same, but they may be formed to be different.

[0093] Furthermore, in the above-described embodiment, as shown in Figure 11, the drive push rod 51 for the front link and the drive push rod 52 for the rear link, which are included in the seating unit drive device 50, are each inclined with respect to the horizontal plane, and one end moves in the vertical direction. However, it is not limited to this, and as shown in Figure 12, by appropriately installing the front link 811 and the rear link 821 (the dashed line on the left in the figure indicates a front extension rod formed integrally with the first front link 8111 and having the same length as the second front link 8112, and the dashed line on the right in the figure indicates a rear extension rod formed integrally with the first rear link 8211 and having the same length as the second rear link 8212), the drive push rod 51 for the front link and the drive push rod 52 for the rear link may be configured parallel to the horizontal plane and moved only within the horizontal plane.

[0094] Furthermore, although the guide rail portion 12 is formed in a plate shape in the above-described embodiment, it is not limited to this, and as shown in Figure 13, the guide rail portion 12 may be composed of a plurality of rod-shaped portions. The guide rail portion 12 may be formed as a toothed guide rail, and the guided member may be configured as a corresponding moving gear.

[0095] Furthermore, in the above-described embodiment, the length of the first front link 8111 is longer than the length of the second front link 8112, and the length of the first rear link 8211 is longer than the length of the second rear link 8212. However, it is not limited to this, and the length of the first front link 8111 may be the same as the length of the second front link 8112, or shorter than the length of the second front link 8112. Similarly, the length of the first rear link 8211 may be the same as the length of the second rear link 8212, or shorter than the length of the second rear link 8212.

[0096] Furthermore, in the above-described embodiment, the front link 811 includes a first front link 8111 and a second front link 8112 that are hinged to each other, and the rear link 821 includes a first rear link 8211 and a second rear link 8212 that are hinged to each other. However, it is not limited to this, and the second front link 8112 and the second rear link 8212 may be omitted. In this case, the posture of the seating portion 20 can be stabilized by providing two rollers as first guided members at intervals on the first front link 8111, and two rollers as second guided members at intervals on the first rear link 8211.

[0097] Furthermore, in the above-described embodiment, the specific configurations of the base seat 10, seating section 20, leg support section 30, backrest section 40, seating section drive device 50, leg support section drive device 60, and backrest section drive device 70 may be modified as needed.

[0098] Furthermore, in the above-described embodiment, in the standing assistance mode, the leg support section 30 and the backrest section 40 may be driven to a state suitable for the patient to stand up. For example, the leg angle B may be set to greater than 180° and less than 270°, and the backrest angle C may be set to an angle within the range of 80° to 110°. The above adjustment steps are not limited to this order. The seating section angle and leg angle B may be adjusted first, and then the backrest angle may be adjusted, and by applying a pressing force from rear to front to the patient via the backrest, the patient's standing up can be further assisted. In the standing assistance mode, the front end of the seating section may be set to approximately the same height as the rear end.

[0099] Furthermore, in the above-described embodiment, the massage machine 1 may have a standby mode, in which the front end of the seat surface of the seating section 20 is set to be slightly higher than the rear end, or to be at the same height as the rear end. This maintains an initial posture suitable for the person being treated to sit in and suitable for transitioning to other massage modes.

[0100] It should be understood that, within the scope of the present invention, the various parts of the embodiments may be freely combined, modified, or omitted as appropriate. [Explanation of symbols]

[0101] 1 Massage machine 10 Bottom seat 11 Bottom 111 Bottom 1st horizontal rod 112 Bottom second horizontal rod 12 Guide rail section 121 First guide rail 122 Second guide rail 13 1st connection part 131 1st vertical rod 132 Second vertical rod 133 1st horizontal rod 134 Second horizontal rod 135 Third vertical rod 136. First limit pin 14 2nd connection part 141 Vertical rod 142 Second limit pin 20 Seating area 21. Seat body 211 Seat plate part 212 Crossbar of seat 22 Side massage member 23 First connecting rod 24 Second connecting rod 30 Leg support 31 Treadboard 32 Connecting plate 33 Partition Plates 40 Backrest 41 Board part 42 Frame section 50. Seating mechanism 51 Drive push rod for front link 52 Drive push rod for rear link 60 Leg support drive mechanism 61 Leg drive push rod 62 Leg drive link 70 Backrest drive mechanism 71 Backrest drive push rod 80 Support member 81 Front support member 811 Front Link 8111 First Front Link 8112 Second front link 812 First guided member 813 Front side rod 82 Rear support member 821 Rear link 8211 First rear link 8212 Second rear link 822 Second guided member 823 Posterior transverse rod J1 Front rotating shaft J2 Rear rotating shaft section A. Seat angle B Leg angle C Backrest angle

Claims

1. A massage machine including a base, a seat, and a seat drive mechanism, The seating portion is supported by the base portion via a support member, and the seating portion drive device adjusts the seating portion by driving and moving the support member. The base portion has a first guide rail and a second guide rail, The support member includes a front support member and a rear support member that are movable independently of each other. The front support member is rotatably connected to the front end of the seating portion and is guided and moved along the first guide rail by the drive of the seating portion drive device, thereby causing the front end of the seating portion to move up and down in conjunction with it. The rear support member is rotatably connected to the rear end of the seating portion and is guided and moved along the second guide rail by the drive of the seating portion drive device, thereby causing the rear end of the seating portion to move up and down in conjunction with the massage machine.

2. The front support member includes a front link that is rotatably connected to the front end of the seating portion, and a first guided member provided on the front link that moves along the first guide rail. The massage machine according to claim 1, characterized in that the rear support member includes a rear link that is rotatably connected to the rear end of the seating portion, and a second guided member provided on the rear link that moves along the second guide rail.

3. The front link includes a first front link and a second front link rotatably connected via a front rotating shaft, the end of the first front link away from the front rotating shaft being rotatably connected to the front end of the seating portion, and the end of the second front link away from the front rotating shaft being rotatably connected to the bottom seat portion. The massage machine according to claim 2, wherein the rear link includes a first rear link and a second rear link rotatably connected via a rear rotating shaft, the end of the first rear link away from the rear rotating shaft of the first rear link is rotatably connected to the rear end of the seating portion, and the end of the second rear link away from the rear rotating shaft of the second rear link is rotatably connected to the bottom seat portion.

4. The first guided member is provided in the middle of the length of the first front link, The massage machine according to claim 3, characterized in that the second guided member is provided in the middle of the length of the first rear link.

5. The seating unit drive device includes a front drive device and a rear drive device. The aforementioned front drive device has a retractable drive push rod for the front link, The aforementioned rear drive device has a retractable drive push rod for the rear link, One end of the drive push rod for the front link is directly or indirectly rotatably connected to the middle of the first front link in the longitudinal direction, and the other end is connected to the bottom seat portion. The massage machine according to claim 3, characterized in that one end of the drive push rod for the rear link is directly or indirectly rotatably connected to the middle of the first rear link in the longitudinal direction, and the other end is connected to the bottom seat portion.

6. The massage machine according to claim 5, characterized in that, in the front-rear direction, the drive push rod for the front link and the drive push rod for the rear link are located between the end of the second front link and the end of the second rear link.

7. The first guide rail is formed to be positioned higher as it extends forward, The massage machine according to claim 1, characterized in that the second guide rail is formed to be positioned higher as it approaches the rear.

8. It further includes a leg support section and a backrest section, The leg support portion is rotatably connected to the front end of the seat portion, The massage machine according to any one of claims 1 to 7, characterized in that the backrest portion is rotatably connected to the base portion or to the rear end of the seat portion.

9. It further includes a leg support drive mechanism and a backrest drive mechanism, The leg support drive device moves the leg support relative to the seating portion. The massage machine according to claim 8, characterized in that the backrest drive device moves the backrest relative to the base or the seat.

10. A method for controlling a massage machine according to claim 9, The seating drive unit, the leg support drive unit, and the backrest drive unit are controlled to cause the massage machine to perform at least one of the following modes: standing assistance mode, flat mode, zero gravity mode, compression mode, and lumbar stretch mode. In the aforementioned standing assistance mode, the front end of the seat surface of the seating portion is lower than the rear end, or is made to be at approximately the same height as the rear end. In the flat mode, the seat angle of the seat is adjusted so that the seat, leg support, and backrest are positioned relative to each other, and the person being treated is kept in a supine position. In the aforementioned zero-gravity mode, the front end of the seat surface of the seating portion is made higher than the rear end, the end of the leg support portion away from the seating portion is made lower than the end closer to the seating portion, and the end of the backrest portion away from the seating portion is made higher than the end closer to the seating portion. In the compression mode, the end of the leg support portion that is away from the seat portion and the end of the backrest portion that is away from the seat portion are brought closer together. A method for controlling a massage machine, characterized in that, in the lumbar stretching mode, the front end of the seat surface of the seating portion is lower than the rear end, and at least a portion of the backrest portion closest to the seating portion is lower than the rear end of the seating portion.

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