TWI335814B - Massage machine - Google Patents

Description

1335814 . « Nine inventions: [Technical Field] The present invention relates to a massage machine, and more particularly to a massage machine in which a kneading mechanism is disposed in a back pad of a chair. [Prior Art] In the past, a massaging machine having a massage mechanism in a back pad of a plurality of chairs has been provided in the industry (such as Japanese Patent No. 2733159). It is equipped with a kneading mechanism on the fixed structure, and exerts force control on the vertical direction of the frame and position control in the plane direction. In addition, when the user massages, position control with the body curve and control the force in the direction of the internal curve of the body is the most ideal control, but the conventional technique does not make the frame surface fit the body curve, so the force is applied. There is still room for improvement in control. SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object thereof is to provide an arbitrarily set size of a force vector of a treatment portion and a three-dimensional direction, and can be arbitrarily perpendicular to a direction of a force vector. Set up a massaging massage machine. The massage machine of the present invention comprises a kneading mechanism, the mechanism is provided with a treatment portion that can be in contact with the human body by rotating or paralleling at least three joints, the massage machine comprising: an actuator capable of independently driving each joint; displacement detection And detecting a displacement of each joint; and a control unit for controlling the actuator; 5 1335814 . » The control unit includes a predetermined control surface that can be determined and controlled on the aforementioned control surface a position controller for the trajectory of the treatment portion, and a urging controller for controlling the urging force of the treatment portion in the normal direction of the trajectory control surface. Therefore, the massaging machine of the present invention can arbitrarily set the direction of the force vector of the treatment portion by arbitrarily setting the above-mentioned obstruction control surface, and can perform the above-mentioned execution control perpendicular to the direction of the force vector. The surface of the treatment department is set on the surface. This ensures the user's desired pressing direction and the desired in-plane trajectory. The position controller may be adapted to the deviation of the current position of the treatment portion calculated from the target position of the treatment portion and the joint displacement measured by the displacement detector, or according to the displacement target value of each joint and the displacement detector. The displacement of each joint is now biased and the actuators are controlled. At this time, the feedback control of the displacement can be realized, so that the required in-plane trajectory can be realized with high precision. Preferably, the position controller performs position control of the treatment portion using a parallel equation of the surface parallel to the trajectory control surface and the coordinate system of the joint coordinate system, and is not parallel to the trajectory control surface when performing position feedback control. The position target value of the treatment portion is set in the direction. At this time, if the position control in the trajectory control plane and the urging control in the normal direction of the above-mentioned trajectory control surface are simultaneously performed, the displacement error of the position control can be prevented from affecting the urging error. The aforementioned control unit may provide a torque command value to the actuators of the joints to drive the joints. At this time, not only the direction of the applied force but also the force of 6 1335814 t · can be controlled. The massage machine further includes a force sensor that can detect the force applied by the treatment portion to the user, and the force application controller can be based on the force application target value and the force applied by the force sensor. The actuators are controlled by deviations in values. At this time, the feedback control of the force application can be realized, so that the required pressing force can be achieved with high precision. Moreover, the massage machine further includes a memory device that memorizes the displacement and the target value of the force-applying portion, and the control portion controls the treatment portion according to the deviation between the target value and the current value of the displacement and the force applied by the memory device. Position and force. At this time, a preset massage action can be realized. Further, the control unit preferably changes the trajectory control surface gradually so that the trajectory control surface is parallel to the tangential direction of the user's body. At this time, it is possible to match the shape of the human body to ensure that the desired trajectory and the required force are applied for massage. Further, the massage machine preferably includes an operation portion for allowing the user to set the magnitude and direction of the force applied to the treatment portion. At this time, the direction and size of the force set by the user can be realized. Further, the control unit may provide a torque command value to the actuators of the joints to drive the joints. At this time, it is possible to control the direction and magnitude of the force application by controlling the torque command value more to reduce the cost. Further, the massage machine may further include an operation portion for adjusting the adaptability of the biasing force, and the biasing controller may adjust the control gain according to the input of the operation portion. At this time, the adaptability of the force can be changed in accordance with the user's preference. 7 1335814 • » In addition, the above-mentioned force-applying controller can also make the adjustment of the direction from the human body to the treatment part larger than the adjustment direction of the human body. At this time, if the massage force is less than the required force, the treatment part cannot immediately cooperate with the human body, and if the massage force is greater than the required force, the treatment part will quickly move away from the human body without excessively exerting force on the human body, the user Experience a relaxing massage. [Embodiment] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. The massage machine of the present invention is provided with a treatment portion at the distal end of the kneading mechanism composed of at least three or more joints. As shown in the eleventh, the kneading mechanism is mounted on the structure constituting the yz surface. The massage machine having the kneading mechanism described above can be applied to the disclosed construction such as Japanese Laid-Open Patent Publication No. 2006-34635, but is not limited thereto. As shown in the first figure, each of the above joints is provided with a motor as an actuator, and a rotary decoder is provided as a displacement sensor for displacement detection, and the control circuit is based on the value obtained by the rotary decoder via the counter ( The control unit) determines the motor command value and drives the motor via the DA converter and the motor driver. At this time, the command value supplied to the motor should be the torque command value. The second diagram shows that the massage device is further provided with a force sensor that can detect the force applied to the user by the treatment portion. The detected value of the force sensor is input to the control circuit via the AD converter. Although the urging sensor is important for the urging feedback described later, the urging sensor is not absolutely necessary. Hereinafter, the control of the massage machine will be described in detail. In the present embodiment, the control unit may determine a predetermined tracking control surface, and the control unit includes a position controller that can control the trajectory of the treatment portion on the aforementioned tracking control surface of 8 1335814, and can be used in the aforementioned tracking control surface. A force applying controller for controlling the force of the treatment portion in the normal direction. Second, the force controller can convert the force of the treatment unit into the output of each motor by using a matrix (matox) according to the position information of the treatment department to perform force control. The position controller controls the position of the treatment portion based on the displacement target value of each joint and the deviation of the current displacement of the joint detected by the displacement sensor. In the above case, it is possible to determine the motor command value U such as the following formula 1 (number 1). The upper text τ in the formula represents a transpose. [Number 1] w = KvAq -f KvAq - u • Motor command value qd : target joint displacement

Kp : position gain q : now joint displacement

Kv: Speed gain: The force applied by the treatment unit is converted into the vector of each motor output △ q=qd—q: position deviation Fd: target force The third picture is the block diagram at this time. In the third figure, the position vector 'the word d' of the X-system treatment unit represents the target value. In addition, "inverse kinematics" in the third figure refers to the position vector X of the treatment portion is converted to off 9 1335814. · Calculation of the node vector q. In addition, the direction of the force applied to the treatment portion can be controlled to be in an orthogonal state to the surface of the controllable treatment portion (ie, the obstruction control surface), and the force control is also applied when the aforementioned force sensor is installed. The device can determine the motor command value according to the following formula 2 (number 2) according to the deviation between the target value of the force application and the current value of the applied force sensor, and the position controller is based on the target position and displacement of the treatment portion. The deviation between the calculated joint displacement detected by the sensor and the current position of the treatment portion is determined by the following equation 2 (number 2). The fourth picture is the block diagram at this time. [Number 2] Ίί — J·} ~ *ϊψ(^)Τ/<ί "l· Kfp — J^(^()ΤΔ/

Kyzp : position gain Jyz : sub-equal equation of yz plane and joint coordinate system Lu Kyzv : speed gain Kfp : proportional gain of force △ Xyz : Xyzd—Xyz fd : target force

Xyz=[y,z]AT f: now force △ f=fd — f : force deviation The following description predicts the positional control on the plane parallel to the aforementioned yz plane and the X direction orthogonal to the yz plane The control rule of the force control is performed, but if the direction of the force control is orthogonal to the direction of the position control, the direction can be arbitrarily determined. Hereinafter, a method of setting the direction of the force application in any direction will be described. 1335814 • · As shown in the fifth figure, if the equation for setting the surface to be controlled is z=ax+by+c, the geometric limit condition of the treatment unit </) (X) is the following formula 3 (number 3). [Number 3]

Φ{^κ) =·ζ—ax~by—c = Q However, x is the three-dimensional position vector at the front end of the treatment unit, x=(x, y, z). At this point, a new coordinate system 〇 — x'y'z' can be defined for the aforementioned face. Here, position control is performed on the y'z' plane, and force control is performed in the X' direction. From the above formula 3 (number 3), the normal vector φ X of the aforementioned face can be obtained as the number 4 below. [Number 4] φχ = {βψ{χ)Ι dx)1 = {δφ{χ) I δχ, δφ(χ) I dy^{x) t dzf [Number 5]

Fdx!dqx dx/dq2 dx/dq3y Λ(ϊ)= ^>/dq2 dyldq%

^/dq} ^:ldq2 dz!dqiJ Further, using Equation 4 (Number 4) and Equation 5 (Number 5), the joint force (motor command value) for applying force to the normal direction of the aforementioned surface is defined. The conversion vector J φ is expressed by the following equation 6 (number 6). [Number 6] r {πγ _ Jx(9)T^/dx) M) ¥Γ~ The above formula 6 (number 6) is used to apply the face of the above formula 3 (number 3) toward the normal side 1335814 For the transformation vector of the force for each joint force, by changing the parameter a ' b, c of the formula 3 (number 3), the joint forces for applying force in any direction can be obtained. Secondly, the method of obtaining the sub-comparison equation Jyz(q) required for position control is shown. Let the rotation coordinate matrix of the reference coordinate system 〇 xyz toward the aforementioned coordinate system 为 be R. Thereby, the coordinate system _x, y, z can be used to represent the position vector of the aforementioned treatment portion. If it is represented by x, = (x, y, z,), the relationship with x = (x, y, z) can be expressed by the formula 7 (number 7). [Equation 7] x'=Rx Small Even if it is located at Λχγζ, the above coordinate system 〇-々z, table; Hereinafter, Equation 8 (number 8) below represents Equation 2 (the sub-yy plane of the number ^yz plane and the joint coordinate system jyz(q). [8] Σ;:;) As described above, the force control and position control If the direction is in the state, as described above, the direction can be arbitrarily determined. Therefore, the control unit can gradually change the obstruction control surface so that the obstruction control surface and the body of the person move the treatment portion along the back of the user: and the vertical force is applied to the moon to perform the optimal massage. (4) System sub-equation The setting of the track control plane in parallel is set to =1 to set the value. This material prevents the displacement error of the position control from affecting the force error. The sixth figure shows that the memory device of the second figure has been attached with a memory device for memorizing the Z displacement and the target value of the force application. In the memory device, the pre-weighted displacement and the target value of the force-force control unit can control the treatment unit according to the deviation of the memory device and the target value from the current value. At this time, the massage suitable for the user can be easily reproduced. As shown in the seventh figure, the user can also set the operation part iG for the user to set the force and direction of the treatment part, the user. The operation unit 10 can input the direction and magnitude of the force applied to the treatment unit. In the seventh diagram, the three-axis force sensor 11 that is placed in the first part of the clamping unit 1 detects the direction and magnitude of the operation, and the control unit uses the detected value as the target value of the direction and magnitude of the applied force. Take control. In the embodiment of the present invention, although the torque command value is provided for each actuator, the speed command value may be provided to control the application of the force and the eight diagrams. When controlling the force, if the massage force is "greater than" the required force, move away from the body: If the direction is "less than", set the speed direction to the direction of the human body to control the force. Enter (the 第八 in the eighth picture). Also, control ^, then calculate the required speed command value for the execution to generate the control wheel. At this time, the error between the position and the speed is returned to generate the speed command value, and the speed command value of the desired trajectory is added to generate the control wheel of the trajectory (B in Fig. 8). The catching degree after superimposing the control input of the force and the obstruction refers to the speed command of the occupant treatment unit, so that the speed command value of the thief (motor) is converted by the ninth (9) Then, it is added to each actuation [Number 9] Person (9) Here, - when the force control is performed in the X direction as described above and the position control is performed in the (10) direction, since the following formula 1〇 can be set, [Number 10]

X JV, yd + KpAy + KvAy Therefore, at this time, A in the eighth figure is equivalent to the formula 丨 (number 丨), and b in the eighth figure is equivalent to the formula 12 (number 12). [Number 11], Kfphf — Kfi\ City, 0

[12] r 0 , yd+^pAy + KvAy Jd+KpAz+KvAz^ In addition, when the treatment unit adjusts the force applied to the human body to the required force, the relative feedback term of the force application error will cause the force to be applied. Adaptation changes. That is, if the control gain associated with the force application is set large, the adaptability will be improved, and if the control gain setting is small, the adaptability will be lowered. Also, it can be made by the user ^ 1 ^ ^ 814 ί. The ninth figure shows the operation of the operation unit 1 for adjusting the magnetic field (four) dirty type of the direct drive of the massage machine, and the operation of the operation unit 1G from the operation unit 1G;: = = part 1G, the force is controlled Will be based on the nature. The operation unit is not limited to the increase of profits, whereby the adjustment can be changed. In the above form, any form that can adjust the adaptability is also less suitable for the direction of § Zhou suitability ( ^ (in the tenth picture, it is better to move the body 12 closer to the treatment unit 1 _ Bg ^ Wanxiang), and It makes the adaptability of the 自 妒 9 9 9 9 9 9 9 9 9 9 9 9 9 Massage force: weak, so the difference is positive when 'because now the control gain can be reduced to move with == body=r. At this time, when it is weak, the massage power will slow down the current massage power of Putian, and the user will still not feel pain. In addition, when the difference between the force fd and the current force f is negative, (4) the financial strength is too strong, so the treatment unit will increase the control gain from the thickness of the body and move the direction of the human body to move away. At this time, the user feels pain & Week =, so the massage is now strong and the user is comfortable. The money is weak and forceful. Thus, a simple block diagram of the massager of the embodiment can be provided. The first diagram of the massage machine of the embodiment of the present invention of the S-force sensor is a block diagram of the control of the massage machine of the Figure 5. UJ5814 The fourth figure is a block diagram showing the control of the massage machine of the second figure. The fifth figure is used to illustrate the coordinates of the track control surface. The sixth diagram has added a block diagram of the memory device to the block diagram of the second figure. The seventh figure is for explaining the operator. The eighth diagram is a block diagram in which the actuators are controlled by speed commands. The ninth figure is an operation unit for explaining the adaptability of the input treatment unit. φ The tenth figure is used to illustrate the adaptability of the treatment department. The eleventh figure is used to illustrate the coordinate axis. [Explanation of main component symbols] Work··· Treatment department 9···Finger 10···Operation Department Lu 11...Tension sensor 12···Human body

Claims (1)

1335814 X. Patent application scope: A massage machine has a mechanism, and the treatment unit is provided with at least one: a treatment unit that is in contact with the human body, and the massage machine includes: an actuator that can be independently driven Each joint; a displacement detector capable of detecting displacement of each joint; and a control portion for controlling the actuator; And the above-mentioned (fourth) part contains the trajectory control which can determine the predetermined trajectory, and the rail-shaped light control (4) of the treatment part on the trajectory control surface (4), and the force-receiving part of the treatment unit on the normal amount of the above-mentioned obstruction control surface Force control 2, such as applying for special compensation (4) reading machine, the front touch controller can be relied on, the target position of the treatment part and the secret part of the joint displacement measured by the displacement detector are now recorded. Or controlling each actuator based on the deviation of the displacement target value of each joint from the current value of the displacement of each joint measured by the displacement detector.丨 If you apply for a full-time _ item of massage machine, the cap inspection controller can use the parallel surface and the joints of the above-mentioned essay surface to be “Asian comparable equations and enter the sensation. 位置 position control, and position In the feedback control, the position target value of the treatment portion is not set in the direction parallel to the above-mentioned obstruction control surface. 4. If the massage machine is applied for a patented illusion, the cap control unit can actuate each of the 1335814 sections. The torque command value is provided to drive the joints. 5. The massage machine of claim 2, further comprising a force sensor capable of detecting the force applied by the treatment unit to the user, the force application The controller can control the actuators according to the deviation between the target value of the force application and the current value of the force applied by the force sensor. 6. If the application is for the general massager, the massage machine is further advanced. The step includes a memory device for memorable treatment, a target value for receiving and applying force, and the front touch portion controls the position of the treatment portion according to the displacement of the memory device and the deviation between the target value of the force applied and the current value. And Shi 7. The massage machine of claim i, wherein the control unit can gradually change the trajectory control surface so that the trajectory control surface is parallel to the tangential direction of the user's body. Turn the first slave massage machine, and further enter the step-by-step package for the user to set the operation direction of the force and direction of the treatment unit. 9. If Shen __幻初_,射__阿的 actuation of each festival n Provide the torque command value to crane the joints.), such as applying for a patent to turn the fifth massage machine, and further into the step package to adjust the Shi Zhou miscellaneous reading department, the former Wei Li control (four) miscellaneous operations For the input of the Ministry, adjust the control gain. For example, if you apply for the massage machine of the 5th item on the side, the above-mentioned application is subject to the adjustment of the 2-11 1335814.