Massage device for providing standing operation, and massage device control method

Abstract

A massage device according to one embodiment of the present invention comprises: a body massage unit for massaging at least a part of the body of a user; a leg massage unit provided at the lower portion of the body massage unit; a body driving unit for changing the position or orientation of the body massage unit; a leg driving unit for adjusting the position of the leg massage unit; and a control unit for controlling the body driving unit and the leg driving unit such that a standing operation for forwardly-standing the body massage unit is linked to the position adjustment of the leg massage unit.

Description

Massage device providing standing motion and method for controlling the massage device

[0001] The present invention relates to a massage device including a leg massage unit, and more specifically, to a massage device providing a standing motion that can more effectively implement convenience and safety.

[0002] Massage is a medical auxiliary therapy that regulates the user's biological rhythm, improves blood circulation, and relieves fatigue by applying or inducing various forms of mechanical stimulation to the user's body, such as kneading, pressing, pulling, tapping, or inducing movement.

[0003] As eating habits, living patterns, areas of activity, and lifestyles change and interest in health and work-life balance increases, demand for massage devices or massage machines (hereinafter collectively referred to as “massage devices”) that provide muscle relaxation, tension relief, fatigue recovery, and stress relief is increasing.

[0004] Recently, massage devices have been developed to go beyond simply providing massage to the user's body and are now also implemented as electronic devices that provide various additional functions, convenience functions, and medical assistance functions.

[0005] As various functions and modules are applied, recent massage devices have a depth and size that can sufficiently accommodate a part of the user's body or the entire body, so when the user removes the massage device after the massage, relaxation, etc. are completed, considerable discomfort may occur.

[0006] Especially for the elderly or physically challenged users, it may not be easy to get out of the massage device itself, and safety accidents such as injuries may occur during this process.

[0007] Some massage devices include an angle adjustment feature, but these features are primarily for reclining, where the backrest rotates backwards. This may provide the user with the advantage of being able to receive a massage in a comfortable position, but it does not provide the convenience of the user getting out of the massage device.

[0008] The present invention was created against the background described above, and its purpose is to provide a massage device that can further enhance user convenience for otoliths and effectively prevent safety accidents that may occur during the otolith process by utilizing the organic movement relationship of multiple massage parts constituting the massage device.

[0009] Other objects and advantages of the present invention can be understood through the following description and will be more clearly understood through the embodiments of the present invention. Furthermore, the objects and advantages of the present invention can be realized through the configurations and combinations of configurations set forth in the claims.

[0010] The technical problems to be solved by the present invention are not limited to the problems described above, and other problems not mentioned will be clearly understood by those skilled in the art from the description of the invention described below.

[0011] In order to achieve the above object, a massage device according to one embodiment of the present invention may be configured to include a body massage unit that massages at least a part of a user's body; a leg massage unit provided at a lower portion of the body massage unit; a body drive unit that changes a position or posture of the body massage unit; a leg drive unit that adjusts the position of the leg massage unit; and a control unit that controls the body drive unit and the leg drive unit so that a standing motion in which the sea massage unit stands up forward is linked with the position adjustment of the leg massage unit.

[0012] Here, the body massage part of the present invention may include a seat part and a backrest part, and in this case, the control part of the present invention may control the body drive part so that the seat part is tilted downward toward the ground when the standing motion is performed.

[0013] Specifically, the leg drive unit of the present invention may include a length adjustment unit that adjusts the length of the leg massage unit. In this case, the control unit of the present invention may control the length adjustment unit so that the length of the leg massage unit decreases when the standing motion is performed.

[0014] According to an embodiment, the leg drive unit of the present invention may include an angle adjustment unit that adjusts the angle of the leg massage unit. In this case, the control unit of the present invention may control the angle adjustment unit so that, when the standing motion is performed, the leg massage unit rotates in a direction opposite to the direction in which the body massage unit stands.

[0015] In addition, the control unit of the present invention may be configured to control the length adjustment unit and the angle adjustment unit so that the length of the leg massage unit is reduced and the leg massage unit is rotated in the reverse direction when the standing motion is performed.

[0016] Furthermore, the control unit of the present invention can control the angle adjustment unit so that the lower part of the leg massage unit is level with the ground when the standing motion is performed.

[0017] Specifically, the leg massage unit of the present invention may include a fixed frame unit that is rotatably coupled to the body massage unit with respect to a first rotation axis; a movable frame unit that moves relative to the fixed frame unit; and a leg massage body coupled to the movable frame unit.

[0018] In this case, the length adjustment unit of the present invention adjusts the length of the leg massage unit by raising and lowering the movable frame unit based on the fixed frame unit, and the control unit of the present invention can control the length adjustment unit so that the movable frame unit rises when the standing motion is performed.

[0019] According to an embodiment, the control unit of the present invention can control the length adjustment unit so that the upper position of the leg massage body is higher than the height of the first rotation axis when the standing motion is performed.

[0020] Preferably, the massage device according to one embodiment of the present invention may further include a detection sensor that detects contact of the leg massage part with the ground.

[0021] In this case, the control unit of the present invention can control the leg drive unit so that the leg massage unit is maintained in contact with the ground using the detection signal of the detection sensor.

[0022] Specifically, the control unit of the present invention may be configured to control the length adjustment unit so that the leg massage unit maintains contact with the ground using the detection signal of the detection sensor, or to control the angle adjustment unit so that the leg massage unit maintains contact with the ground using the detection signal of the detection sensor.

[0023] In addition, in the case of an embodiment further including a detection sensor that detects contact of the leg massage unit with the ground, the control unit of the present invention may be configured to control the leg drive unit so that the leg massage unit comes into contact with the ground when the leg massage unit does not come into contact with the ground at the time the standing motion is completed.

[0024] Preferably, a massage device according to one embodiment of the present invention may further include a sensor that detects pressure applied to the leg massage unit by the ground. In this case, the control unit of the present invention may control the leg drive unit so that the pressure detected by the sensor remains within a reference value range from the time the leg massage unit makes contact with the ground until the standing motion is completed.

[0025] Specifically, the leg massage unit of the present invention may include a first leg massage unit that massages one leg of the user; and a second leg massage unit that massages the other leg of the user and moves relative to the first leg massage unit.

[0026] In addition, in an embodiment further including a detection sensor that detects contact of the leg massage unit with the ground, the control unit of the present invention can control the leg drive unit so that the leg massage unit comes into contact with the ground when the leg massage unit does not come into contact with the ground at the time when the standing motion starts.

[0027] A method for controlling a massage device according to another aspect of the present invention comprises a body massage unit for massaging at least a part of a user's body, a leg massage unit provided at a lower portion of the body massage unit, a body drive unit for changing a position or posture of the body massage unit, a leg drive unit for adjusting a position of the leg massage unit, and a control unit, wherein the control unit controls the massage device, the method comprising: a signal input step for inputting a start signal for standing forward of the body massage unit; and a control step for controlling the body drive unit and the leg drive unit so that a standing motion for standing forward of the body massage unit and a position adjustment for adjusting a position of the leg massage unit are linked.

[0028] In one embodiment of the present invention, when a standing motion or standing mode is activated, the posture or position of the body massage part is adjusted so that the body massage part stands forward, and the position of the leg massage part is adjusted to a position optimized for the user's standing motion, so that the user convenience of the locomotor process can be further improved.

[0029] According to one embodiment of the present invention, it is possible to fundamentally prevent the phenomenon of the leg massage part colliding with or interfering with the ground during the process of changing the position or posture of the massage device by a standing motion.

[0030] According to one embodiment of the present invention, when the standing motion or standing mode is operated, the leg massage part is controlled to contact the ground, so that safety accidents that may occur when the user gets out of the massage device, as well as tilting, overturning, damage, etc. of the device can be effectively prevented.

[0031] The following drawings attached to this specification illustrate preferred embodiments of the present invention, and together with the detailed description of the invention described below, serve to more effectively understand the technical idea of ​​the present invention, and therefore, the present invention should not be interpreted as being limited to the matters described in these drawings.

[0032] Figure 1 is a drawing illustrating a massage device according to embodiments of the present invention;

[0033] Figure 2 is a drawing for explaining a frame part according to embodiments of the present invention;

[0034] FIG. 3 is a drawing for explaining components of a massage device according to embodiments of the present invention;

[0035] FIG. 4 is a schematic diagram illustrating a state in which a leg massage unit is driven according to one embodiment of the present invention;

[0036] Figure 5 is a side view showing the basic state of a massage device according to one embodiment of the present invention;

[0037] FIG. 6 is a drawing showing a tilting driving unit installed in a frame according to one embodiment of the present invention.

[0038] Fig. 7 is a cross-sectional view taken along line II` of Fig. 6.

[0039] Figure 8 is a perspective view showing a leg massage unit according to one embodiment of the present invention.

[0040] Figure 9 is a drawing showing a length driving unit according to one embodiment of the present invention.

[0041] Figures 10a to 10c are front views showing a state in which the length of the leg massage part is adjusted according to one embodiment of the present invention.

[0042] FIG. 11 is a drawing showing a state in which a standing motion of a massage device according to one embodiment of the present invention is implemented;

[0043] FIG. 12 is a drawing showing a state in which the length and angle of the leg massage part are adjusted in a standing state of a massage device according to one embodiment of the present invention.

[0044] Figures 13 and 14 are block diagrams showing the detailed configuration of a massage device according to one embodiment of the present invention.

[0045] Figure 15 is a flowchart explaining the overall processing process of the present invention.

[0046] Figure 16 is a flowchart explaining one embodiment of the present invention based on the operating subject.

[0047] Figure 17 is a flowchart illustrating a processing process according to one embodiment of the standing operation of the present invention.

[0048] Figures 18 to 21 are flowcharts explaining a processing process according to another embodiment of the present invention.

[0049] Figures 22 and 23 are drawings explaining the operational relationship of a massage device that provides a standing motion.

[0050] A massage device characterized by comprising: a body massage unit that massages at least a portion of a user's body; a leg massage unit provided at a lower portion of the body massage unit; a body drive unit that changes a position or posture of the body massage unit; a leg drive unit that adjusts the position of the leg massage unit; and a control unit that controls the body drive unit and the leg drive unit so that a standing motion in which the sea massage unit stands up forward is linked with the position adjustment of the leg massage unit.

[0051] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Prior to this, it should be noted that the terms and words used in this specification and claims should not be construed as limited to their conventional or dictionary meanings. Based on the principle that the inventor can appropriately define the concepts of terms to best explain his or her invention, they should be interpreted in a way that conforms to the technical spirit of the present invention.

[0052] Therefore, the embodiments described in this specification and the configurations illustrated in the drawings are only the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention. Therefore, it should be understood that there may be various equivalents and modified examples that can replace them at the time of filing this application.

[0053] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but there may also be other components in between.

[0054] Conversely, when a component is said to be "directly connected" or "directly connected" to another component, this should be understood as meaning that there are no intervening components. Other expressions used to describe relationships between components should also be interpreted in the same way.

[0055] The terms used in this specification are only used to describe specific embodiments and are not intended to limit the present invention, and singular expressions include plural expressions unless the context clearly indicates otherwise.

[0056] As used herein, the terms "comprise" or "have" imply the presence of a feature, number, step, operation, component, part, or combination thereof. Therefore, it should be understood that these terms do not exclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0057] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and shall not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0058] In this specification, an actuator refers to a structure capable of providing driving force. For example, an actuator may include, but is not limited to, a motor, a linear motor, an electric motor, a DC motor, an AC motor, a linear actuator, an electric actuator, and the like.

[0059] Hereinafter, with reference to FIGS. 1 to 12, the basic embodiment of the present invention and the details of the driving mechanism of the present invention will first be described, and the details of the embodiment of the present invention that provides a standing operation or a standing mode, etc. will be described later.

[0060]

[0061] Figure 1 is a drawing showing one embodiment of a massage device according to the present invention.

[0062] A massage device (100) according to one embodiment of the present invention forms an area for receiving at least a part of a user's body, and includes a body massage unit (1000) for massaging the user's body, a leg massage unit (2000) for massaging the user's legs, a mounting unit (3100) for receiving the user's arms, and an arm massage unit (3000) for massaging the user's arms.

[0063] The body massage unit (1000) can provide a massage to at least a part of the user's body. The body massage unit (1000) can include a massage module (1700) that provides a massage function to at least a part of the user's body, an audio output module (1500) for providing an audio output of any form to the user, a frame unit (1100) that constitutes the skeleton of the body massage unit (1000), and a user input unit (1400) for receiving an input of any form from the user.

[0064] The configurations included in the body massage unit (1000) described above are merely exemplary embodiments, and the body massage unit (1000) may include various configurations in addition to the configurations described above.

[0065] In addition, the shape and structure of the massage device (100) illustrated in FIG. 1 are merely exemplary, and various forms of massage devices may also be included within the scope of the present invention, as long as they do not exceed the scope of rights defined by the claims of the present invention.

[0066] The body massage unit (1000) can form a space of any shape to accommodate a user. The body massage unit (1000) can have a space of a shape corresponding to the shape of the user's body. For example, as illustrated in FIG. 1, the body massage unit (1000) can be implemented as a seating type capable of accommodating the entire body or a portion of the body of the user (10).

[0067] The part of the body massage unit (1000) that comes into contact with the ground may include any material to increase friction or any member to increase friction (e.g., an anti-slip pad, etc.), and may include wheels to enhance the mobility of the massage device (100).

[0068] At least a portion of the body massage unit (1000) can slide. For example, when the body massage unit (1000) begins a massage, at least a portion of the body massage unit (1000) can slide forward. Additionally, the body massage unit (1000) can tilt backward. As a result, the body massage unit (1000) can provide a massage while tilted backward.

[0069] According to one embodiment of the present invention, the massage device (100) may include at least one air cell. The air cell may be positioned on the user's shoulder area, pelvic area, arm massage part (3000), leg massage part (2000), etc., but is not limited thereto and may be positioned in various parts of the massage device (100).

[0070] The massage device (100) may include an air supply unit, which may inflate the air cell by supplying air to the air cell. The air supply unit may be located inside the body massage unit (1000) or in the leg massage unit (2000). Additionally, the air supply unit may be located outside the massage device (100).

[0071] Referring to FIG. 1, the leg massage unit (2000) can provide a leg massage to the user. For example, the leg massage unit (2000) can include a calf massage unit that massages the user's calves and / or a foot massage unit that massages the user's feet.

[0072] The leg massage part (2000) can be adjusted in length according to the user's physical characteristics.

[0073] For example, if a tall user uses the massage device (100), the length of the leg massage unit (2000) needs to be longer because the calf length is long. In addition, if a short user uses the massage device (100), the length of the leg massage unit (2000) needs to be shorter because the calf length is short. Accordingly, the leg massage unit (2000) can provide a leg massage customized to the user's height.

[0074] Referring to FIG. 1, a plurality of leg massage units (2000) may be provided, and the left and right feet of the user (10) may enter each of the plurality of leg massage units (2000A, 2000B). The plurality of leg massage units (2000A, 2000B) may operate independently.

[0075] Referring to FIG. 1, the leg massage unit (2000) may include a leg massage body (2200), and the user's calf and foot may be inserted and placed in the leg massage body (2200), specifically, the calf massage body (2210) and the foot massage body (2250), respectively.

[0076] Regarding the leg massage section (2000), we will explain in detail later.

[0077] The massage module (1700) may be installed inside the body massage unit (1000) to provide any type of mechanical stimulation to a user accommodated in the body massage unit (1000). The massage module (1700) may move along the frame unit (1100) installed inside the body massage unit (1000) illustrated in FIG. 1.

[0078] For example, a frame portion (1100) of a body massage unit (1000) may be equipped with a rack gear (1112), and a massage module (1700) may move along the rack gear (1112) to provide mechanical stimulation to various parts of the user's body. The massage module (1700) may include a ball massage unit or a roller massage unit, but is not limited thereto.

[0079] These massage modules can be equipped in the leg massage unit (2000) and the arm massage unit (3000).

[0080] The frame (1100) constitutes the skeleton of the internal structure of the body massage unit (1000) and may be made of a metal material or a plastic material. For example, the frame (1100) may be made of iron, an alloy, steel, etc., but is not limited thereto and may be made of various hard materials.

[0081] Referring to FIG. 3, according to one embodiment of the present invention, the massage device (100) may include an audio output module (1500).

[0082] The audio output module (1500) may be provided in various locations. For example, the audio output module (1500) may include a plurality of output units, such as, but not limited to, an upper audio output unit positioned on the upper portion of the seat portion (1000a) that comes into contact with a user sitting on the massage device (100), a front audio output unit attached to the front end of the left and right arm massage portions (3000) of the seat portion (1000a), and / or a rear audio output unit attached to the rear end of the arm massage portion (3000).

[0083] A seat portion (1000a) provided in a massage device (100) according to one embodiment of the present invention may include an upper body support portion (drawing symbol not set) that supports the upper body of the user, and a lower body support portion (drawing symbol not set) that supports the lower body of the user.

[0084] The upper body support part is in contact with the user's upper body, specifically from the head to the back, and supports the user's body, and the lower body support part is in contact with the area below the upper body support part, such as the buttocks and thighs, and supports the user's body.

[0085] In this case, the audio output module (1500) can provide surround sound such as 5.1 channels, but is not limited thereto.

[0086] According to one embodiment of the present invention, a user can control a massage device (100) using a massage device control device (CD). The massage device control device (CD) can be connected to the massage device (100) via wired communication and / or wireless communication.

[0087] The massage device control device (CD) may include a remote controller, a cellular phone, a personal digital assistant (PDA), etc., and may include various electronic devices that can be connected to the massage device (100) via wired or wireless communication, but are not limited thereto.

[0088] FIG. 2 is a drawing for explaining the frame portion of FIG. 1, and FIG. 3 is a drawing for explaining components of a massage device according to one embodiment of the present invention.

[0089] According to one embodiment of the present invention, the massage device (100) may include at least one of a frame unit (1100), a control unit (1200), a storage unit (1300), a user input unit (1400), an audio output module (1500), a network connection unit (1600), and a massage module (1700).

[0090] The frame part (1100) may be a configuration that forms the skeleton of the body massage part (1000).

[0091] According to one embodiment of the present invention, the frame portion (1100) may include a body frame (drawing symbol not set) in which a massage module (1700) is provided, a base frame (1130) that supports the body frame, and a tilting frame (1150) that is coupled to the body frame and allows the body frame to rotate relative to the base frame (1130).

[0092] The body frame may include a back frame (1110) that forms the skeleton of the user's upper body receiving portion and a seat frame (1120) that forms the skeleton of the seat portion.

[0093] At least a portion of the body frame may be equipped with a rack gear (1112). The rack gear (1112) is a member for guiding the movement of the body massage module in the up-and-down direction (based on FIG. 2), and may include a plurality of ribs and a plurality of floors.

[0094] According to one embodiment of the present invention, the rack gear (1112) may be provided in a form facing each other on both sides of the body frame, specifically, the back frame (1110) and the seat frame (1120), and the body massage module may move along the rack gear (1112).

[0095] For example, the body massage module may include a gear that meshes with the rack gear (1112), and the body massage module may move upward or downward by rotating the gear by an actuator provided in the body massage module.

[0096] The rack gear (1112) may be made of metal or plastic. For example, the rack gear (1112) may be made of iron, steel, alloy, reinforced plastic, melamine resin, phenol resin, etc., but is not limited thereto.

[0097] The body frame can be implemented in various shapes. For example, the body frame can be classified into S-frame, L-frame, S&L frame, and double S&L frame depending on the shape, but is not limited thereto.

[0098] An S-frame is a frame in which at least a portion of the body frame includes a curved shape like an “S”. An L-frame is a frame in which at least a portion of the body frame includes a curved shape like an “L”. An S&L frame is a frame in which both a curved shape like an “S” and a curved shape like an “L” are included. A double S&L frame is a frame in which both a curved shape like an “L” and two portions of a curved shape like an “S” are included.

[0099] The base frame (1130) refers to a portion of the frame section (1100) that supports the body frame and is in contact with the ground. The base frame (1130) may include a base upper frame (1131) and a base lower frame (1132).

[0100] The base upper frame (1131) can support the body frame and the tilting frame (1150) coupled to the body frame, and the base lower frame (1132) can be in contact with the ground.

[0101] A tilting frame (1150) can be rotatably connected to the base upper frame (1131), and a base lower frame (1132) can be coupled to the base upper frame (1131) and placed between the base upper frame (1131) and the ground.

[0102] Additionally, the base upper frame (1131) can be positioned in contact with the base lower frame (1132).

[0103] As an optional embodiment, the base upper frame (1131) can move along the base lower frame (1132). For example, the base upper frame (1131) can slide forward or backward along the base lower frame (1132). In this case, the body frame is connected to the base upper frame (1131) and can move according to the movement of the base upper frame (1131).

[0104] For example, when the base upper frame (1131) moves forward, the body frame can also move forward, and when the base upper frame (1131) moves backward, the body frame can also move backward. As a result, sliding movement of the body massage unit (1000) can be permitted.

[0105] Referring to FIGS. 5 to 7, 11, and 12, the front end of the base lower frame (1132) can be positioned facing the side of the leg massage unit (2000).

[0106] That is, the front end of the base lower frame (1132) can be placed facing one side of the leg massage unit (2000) in the width direction (left-right direction based on FIG. 6) of the massage device (100).

[0107] Specifically, it can be positioned relatively forward (left side in Fig. 5) relative to the rotation center axis (AX1) of the leg massage unit (2000) of the body frame provided in the frame unit (1100).

[0108] That is, the front end of the base lower frame (1132) can be positioned relatively forward of the rotation center axis (AX1) of the leg massage part (2000) with respect to the body frame, specifically the seat frame (1120).

[0109] The base subframe (1132) may include a base contact portion (1136) such that at least one of the front and rear ends contacts the ground.

[0110] Since the base contact portion (1136) provided at the front end is maintained in contact with the ground, the tilting frame (1150) rotates relative to the base frame (1130) and has the effect of preventing the massage device (100), specifically the body massage portion (1000), the leg massage portion (2000), and the arm massage portion from being tilted forward in the 'standing mode' in which the tilting frame (1150) tilts toward the front.

[0111] Referring to FIG. 5, the front end of the base lower frame (1132) can be positioned relatively forward compared to the contact roller part (2900) located at the rear end of the leg massage part (2000).

[0112] Looking at this from another perspective, the front end of the base lower frame (1132) can be placed relatively forward (left side in Fig. 5) of the contact roller unit (2900) provided in the leg massage unit (2000) while the contact roller unit (2900) is in contact with the ground.

[0113] In the basic state of the massage device (100), in the standing state, the contact roller part (2900) provided in the leg massage part (2000) may be in contact with the ground, and in this case, the front end of the base lower frame (1132) is positioned relatively forward of the contact roller part (2900), thereby preventing the massage device (100) from tilting forward.

[0114] The control unit (1200) can control the operation of the massage device (100). The control unit (1200) can be implemented with a single processor or multiple processors. If the control unit (1200) is implemented with multiple processors, at least some of the multiple processors can be physically separated from each other. Furthermore, the control unit (1200) is not limited thereto and can be implemented in various ways.

[0115] For example, the control unit (1200) may correspond to one or more processors. The processor may be implemented as an array of multiple logic gates, or as a combination of a general-purpose microprocessor and a memory storing a program executable on the microprocessor. Furthermore, those skilled in the art will appreciate that the present embodiment may be implemented using other types of hardware.

[0116] According to one embodiment of the present invention, the control unit (1200) can control the operation of the massage device (100).

[0117] For example, the massage device (100) may include a plurality of actuators, and the massage device (100) may control the operation of the massage device (100) by controlling the operation of the plurality of actuators.

[0118] For example, the massage device (100) may include at least one of a massage module movement actuator, at least one actuator included in the massage module (1700), a back angle actuator, a leg angle actuator, a foot massage actuator, a leg length adjustment actuator, and a sliding actuator, and the control unit (1200) may control the operation of the massage device (100) by controlling these.

[0119] The massage module movement actuator is an actuator that enables the massage module (1700) to move up and down, and the massage module (1700) can move along the rack gear (1112) by the operation of the massage module movement actuator.

[0120] The back angle actuator is an actuator that adjusts the angle of the part of the massage device (100) that the user's back comes into contact with, and the back angle of the massage device (100) can be adjusted by the operation of the back angle actuator.

[0121] The leg angle actuator is an actuator that adjusts the angle of the leg massage part (2000) of the massage device (100), and the angle between the leg massage part (2000) and the body massage part (1000) can be adjusted by the operation of the leg angle actuator.

[0122] The foot massage actuator refers to an actuator that operates a foot massage module included in a leg massage unit (2000). By utilizing the foot massage actuator, the massage device (100) can provide a foot massage to a user.

[0123] The massage module (1700) may include at least one actuator, and the control unit (1200) may provide various massage movements by operating the at least one actuator. For example, the control unit (1200) may provide tapping massage, kneading massage, etc., by operating the at least one actuator included in the massage module (1700), but is not limited thereto and may provide various massage movements.

[0124] The leg length adjustment actuator refers to an actuator that adjusts the length of the leg massage unit (2000). For example, the control unit (1200) can utilize the leg length adjustment actuator to adjust the length of the leg massage unit (2000) to suit the user, thereby providing the user with a massage suited to their body type.

[0125] The sliding actuator enables the sliding motion of the massage device (100). For example, by the motion of the sliding actuator, the horizontal base upper frame (1131) can move forward or backward, and as a result, the body frame connected to the horizontal base upper frame (1131) can also move forward or backward.

[0126] In this specification, 'leg angle actuator' may mean a hinge drive unit (2800), and 'leg length adjustment actuator' may mean a length drive unit (2500).

[0127] The control unit (1200) can control the operation of the length driving unit (2500) and the hinge driving unit (2800).

[0128] A detailed description of the configuration of the length drive unit (2500) and hinge drive unit (2800) will be provided later.

[0129] The storage unit (1300) can store various information related to the massage device (100). For example, the storage unit (1300) can include massage control information and personal authentication information, but is not limited thereto.

[0130] The storage unit (1300) may be implemented using a non-volatile storage medium capable of persistently storing arbitrary data. For example, the storage unit (1300) may include, but is not limited to, storage devices based on disks, optical disks, and magneto-optical storage devices, as well as flash memory and / or battery-backed memory.

[0131] In addition, the storage unit (1300) may include memory. The memory may refer to a volatile storage device in which stored information is instantly erased when power is turned off, such as a random access memory (RAM) such as a dynamic random access memory (DRAM) or a static random access memory (SRAM), which is the main storage device directly accessed by the processor, but is not limited thereto. Such memory may be operated by the control unit (1200).

[0132] The user input unit (1400) can receive commands related to the control of the operation of the massage device (100) from the user, and the user input unit (1400) can be implemented in various forms. For example, the user input unit (1400) can be provided in the body massage unit (1000), the leg massage unit (2000), and the arm massage unit (3000), but is not limited thereto.

[0133] The massage device (100) can obtain various commands from the user through the user input unit (1400). For example, the massage device (100) can receive any command related to selection of a massage module, selection of a massage mode, selection of a massage intensity, selection of a massage time, selection of a massage area, selection of a position and operation of a body massage unit (1000), selection of turning the power of the massage device (100) on and off, selection of whether or not to operate a heating function, selection related to sound source playback, etc., but is not limited thereto.

[0134] As an optional embodiment, the user input unit (1400) may be provided with hot key type buttons and / or selection buttons for selecting a direction, canceling, executing an input, etc., according to preset user-defined functions or self-preset functions.

[0135] The user input unit (1400) may be implemented as a key pad, a dome switch, a touch pad (static / capacitive), a jog wheel, a jog switch, etc., but is not limited thereto. In addition, the user input unit (1400) may obtain commands through the user's speech based on voice recognition technology.

[0136] According to one embodiment of the present invention, the user input unit (1400) may include a display for displaying the operating status of the massage device (100) or the current status of the user. In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, and a 3D display, but is not limited thereto.

[0137] The audio output module (1500) can provide any form of audio output to the user. For example, the audio output module (1500) can provide brain stimulation to the user by outputting sound sources and / or binaural beats optimized for the massage pattern provided by the massage device (100). The audio output module (1500) can output audio signals received via a network (not shown) or stored in an internal / external storage medium (not shown).

[0138] For example, the audio output module (1500) can output a sound source according to the control of the user terminal through a network connection (e.g., Bluetooth connection, etc.) with the user terminal. In addition, the audio output module (1500) can output any form of acoustic signal generated in relation to the operation of the massage device (100).

[0139] A massage device (100) according to one embodiment of the present invention may include a network connection unit (1600). The network connection unit (1600) may communicate with a module within the massage device (100), an external massage device (100), and / or a user terminal via any type of network.

[0140] The network connection unit (1600) may include a wired / wireless connection module for network connection. Wireless connection technologies that may be used include, for example, WLAN (wireless LAN) (Wi-Fi), Wibro (wireless broadband), Wimax (world interoperability for microwave access), and HSDPA (high speed downlink packet access).

[0141] For example, XDSL (digital subscriber line), FTTH (fibers to the home), PLC (power line communication), etc. can be used as wired connection technology. In addition, the network connection unit (1600) can include a short-range communication module to transmit and receive data with any device / terminal located in a short range. For example, Bluetooth, RFID (radio frequency identification), infrared communication (infrared data association, IrDA), UWB (ultra-wideband), ZigBee, etc. can be used as short-range communication technology, but are not limited thereto.

[0142] As described above, a massage device (100) according to one embodiment of the present invention may include a massage module (1700). That is, the massage module (1700) is a configuration that provides a mechanical stimulus to a user, and the massage module (1700) can move along the frame portion (1100).

[0143] A massage device (100) according to one embodiment of the present invention may include a frame portion (1100). Referring to FIGS. 1 and 2, as described above, the frame portion (1100) may provide a path along which the massage module (1700) may move.

[0144] The control unit (1200) can provide a massage by controlling the operation of the massage module (1700) and applying a mechanical stimulus to the user.

[0145] The control unit (1200) can move the massage module (1700) in the directions of the X-axis, Y-axis, and Z-axis. The control unit (1200) can advance the massage ball forward or retreat the massage ball backward along the X-axis, Y-axis, and Z-axis. Alternatively, the control unit (1200) can rotate the massage ball around the X-axis, Y-axis, and Z-axis.

[0146] A massage device (100) according to one embodiment of the present invention may include a sensor unit (1800). At this time, the sensor unit (1800) may include at least one sensor. For example, the sensor unit (1800) may include a touch sensor, a pressure sensor, an infrared sensor, an LED sensor, a photo sensor, a hall sensor, an electrostatic sensor, etc., but is not limited thereto.

[0147] The sensor unit (1800) can be used to obtain various types of information. For example, the sensor unit (1800) can be used to recognize the user. That is, information on whether the user is seated, the user's body type, and any abnormalities in the user's body can be obtained. As another example, the sensor unit (1800) can be used to obtain biometric information. That is, fingerprint information, facial information, voice information, iris information, weight information, electrocardiogram information, body composition information, and the like can be obtained, but is not limited thereto and can include various types of biometric information.

[0148] As an optional embodiment, the massage device (100) can detect the contact area and / or contact location with the user through the sensor unit (1800).

[0149] Additionally, the massage device (100) can obtain the user's shoulder position information through the sensor unit (1800).

[0150] Additionally, the massage device (100) can provide a customized massage based on the acquired information. For example, when the massage device (100) provides a shoulder massage, the massage device (100) can recognize the user's shoulder position based on the information acquired through the sensor unit (1800) and provide the user with a shoulder massage based on the recognition result.

[0151] The leg massage unit (2000) may be configured to massage the user's legs. The leg massage unit (2000) may be provided with a leg receiving space for accommodating the user's legs. Referring to FIG. 1, a plurality of leg massage units (2000) may be provided, and the user's left and right feet may be respectively accommodated in the plurality of leg massage units (2000A, 2000B).

[0152] Specifically, the plurality of leg massage units (2000A, 2000B) may each include a leg massage main body (2200), and the left and right feet of the user (10) may be inserted, placed, and accommodated in the plurality of leg massage main bodies (2200A, 2200B).

[0153] Multiple leg massage units (2000A, 2000B) can be driven independently by receiving electrical signals from the control unit (1200).

[0154] That is, multiple leg massage units (2000A, 2000B) can operate independently.

[0155] The leg massage unit (2000) may include at least one of an air cell, a calf massage module (not shown), and a foot massage unit (not shown).

[0156] The air cell may be configured to immobilize at least a portion of the user's body. The air cell included in the leg massage unit (2000) may be configured to receive air from a separately provided air supply unit, inflate, and immobilize at least a portion of the user's body.

[0157] The calf massage module (not shown) may be configured to massage the calf area of ​​the user's legs. As described above, the calf massage module may include, but is not limited to, a ball massage unit or a roller massage unit.

[0158] A foot massage unit (not shown) may be configured to massage a user's feet. The foot massage unit may include a foot massage module for massaging the user's feet. In this case, the foot massage module may include, but is not limited to, a ball massage unit or a roller massage unit.

[0159] FIG. 4 is a schematic diagram illustrating a state in which a leg massage unit is driven according to an embodiment of the present invention. FIG. 5 is a side view illustrating a basic state of a massage device according to an embodiment of the present invention. FIG. 6 is a diagram illustrating a tilting driving unit installed in a frame according to an embodiment of the present invention. FIG. 7 is a side cross-sectional view taken along line II` of FIG. 6. FIG. 8 is a perspective view illustrating a leg massage unit according to an embodiment of the present invention. FIG. 9 is a diagram illustrating a length driving unit according to an embodiment of the present invention. FIGS. 10a to 10c are front views illustrating a state in which the length of the leg massage unit is adjusted according to an embodiment of the present invention. FIG. 11 is a diagram illustrating a state in which a standing operation of a massage device according to an embodiment of the present invention is implemented. FIG. 12 is a diagram illustrating a state in which the length and angle of the leg massage unit are adjusted in a standing state of a massage device according to an embodiment of the present invention.

[0160] Referring to FIG. 1, a massage device (100) according to one embodiment of the present invention may include a body massage unit (1000), a leg massage unit (2000), and an arm massage unit (3000).

[0161] Referring to FIGS. 1, 2, 5 to 7, the body massage unit (1000) may include a frame unit (1100), and the frame unit (1100) may include a body frame, a base frame (1130), and a tilting frame (1150).

[0162] As described above, a body frame according to one embodiment of the present invention may include a back frame (1110) forming a skeleton of a user's upper body receiving portion and a seat frame (1120) forming a skeleton of a seat portion.

[0163] The back frame (1110) and the seat frame (1120) may have preset angles. The body frame, specifically the back frame (1110) and the seat frame (1120), are coupled to a tilting frame (1150) to be described later, and are linked to the rotation of the tilting frame (1150) with respect to the base frame (1130) and may rotate together with the tilting frame (1150).

[0164] Meanwhile, a body frame according to one embodiment of the present invention can be installed on a tilting frame (1150) so that the angle can be varied up and down by a reclining means (4000) to perform a reclining function.

[0165] The reclining means (4000) can tilt (or rotate) the body frame, specifically the back frame (1110) and the seat frame (1120), relative to the tilting frame (1150) to vary the angle of the seat frame (1120) and the back frame (1110) relative to the ground.

[0166] Referring to FIGS. 5 to 7, the reclining means (4000) may include a reclining drive unit (4100), a reclining rail (1151), and a reclining roller (4500).

[0167] The reclining drive unit (4100) connects the tilting frame (1150) and the body frame, and can generate power to move the body frame relative to the tilting frame (1150).

[0168] As an optional embodiment, the reclining drive unit (4100) includes a load (not shown in the drawing), and is an electric actuator operated by a motor, which moves the load and transmits power to the body frame.

[0169] As an optional embodiment, the reclining drive unit (4100) may be a hydraulic actuator that is extended by the pressure of fluid supplied from a pneumatic supply device (not shown).

[0170] The reclining drive unit (4100) may be hinged (or rotatably) connected to the tilting frame (1150) at one end (lower end as shown in FIG. 6) facing the front side of the massage device (100), and may be hinged (or rotatably) connected to the body frame, specifically, the reclining bridge (1100a) at the other end (upper end as shown in FIG. 6) facing the rear side of the massage device (100).

[0171] The above-mentioned other end is connected to the reclining bridge (1100a) in the reclining drive unit (4100) and means a part that can move along a preset path.

[0172] The reclining bridge (1100a) connects the seat frame (1120), the back frame (1110) and the reclining drive unit (4100), and can be formed integrally with the seat frame (1120) or the back frame (1110).

[0173] As an optional embodiment, the reclining bridge (1100a) may be part of the seat frame (1120) or the back frame (1110).

[0174] The reclining rail (1151) forms a movement path of the reclining roller (4500) to be described later, and may be formed on both sides of the tilting frame (1150). The reclining roller (4500) installed on the body frame, specifically the back frame (1110) and / or the seat frame (1120), may move on the reclining rail (1151) and perform a reclining function.

[0175] In the present invention, the reclining rail (1151) is formed on the tilting frame (1150), but is not limited thereto. Various modifications are possible, such as the reclining rail being provided as a separate object from the tilting frame (1150) and being coupled to the tilting frame (1150).

[0176] The reclining rail (1151) may be formed to extend vertically and be inclined at a preset angle with respect to the ground. However, this is not limited to this, and various modifications are possible, such as forming a curved shape that is curved vertically.

[0177] The reclining roller (4500) can be inserted onto the reclining rail (1151), is movable on the reclining rail (1151), and can be installed at the front and / or rear of the body frame.

[0178] Referring to FIG. 7, in the present invention, the reclining roller (4500) is installed on the seat frame (1120), but is not limited thereto, and various modifications are possible, such as being installed on the back frame (1110).

[0179] In the present invention, the reclining roller (4500) is connected to the body frame, and the reclining rail (1151) is provided on the tilting frame (1150), but this is not limited thereto, and various modifications are possible, such as the reclining roller being connected to the tilting frame (1150) and the reclining rail being provided on the body frame, specifically, the back frame (1110) and / or the seat frame (1120).

[0180] When the massage device (100) is in the basic state (see FIG. 7) and the reclining drive unit is in operation, the body frame to which one end (the upper end as shown in FIG. 6) of the reclining drive unit (4100) is connected, specifically the reclining bridge (1100a), moves to the front side (the lower end as shown in FIG. 6), and the reclining roller (4500) connected to the body frame can move along the reclining rail (1151) provided on the tilting frame (1150).

[0181] This allows the seat frame (1120) to rise while the back frame (1110) can descend. As a result, the massage device (100) is changed to a zero-gravity state (or reclining state) so that the user can lie down.

[0182] When the massage device (100) is in a zero-gravity state and the reclining drive unit (4100) operates in the opposite direction, the body frame to which one end (the upper end as shown in FIG. 6) of the reclining drive unit (4100) is connected, specifically, the reclining bridge (1100a), moves to the rear side (the upper end as shown in FIG. 6), and the reclining roller (4500) connected to the body frame can move along the reclining rail (1151) provided on the tilting frame (1150).

[0183] This allows the seat frame (1120) to descend while the back frame (1110) rises. Accordingly, the massage device (100) can be changed (or returned) from a zero-gravity state (or reclining state) to a basic state, allowing the user to sit down.

[0184] Referring to FIGS. 2, 5 to 7, 11, and 12, a tilting frame (1150) according to one embodiment of the present invention is coupled to a body frame, specifically a seat frame (1120), and is rotatable relative to a base frame (1130).

[0185] The tilting frame (1150) can be connected to the base frame (1130), specifically, the base upper frame (1131), so as to be able to rotate relative to the rotation center axis (AX1) that is preset.

[0186] Referring to FIG. 5, the front side of the tilting frame (1150) is rotatably connected to the base frame (1130), specifically, the base upper frame (1131), and a tilting drive unit (1900), which will be described later, can be connected to the rear side of the tilting frame (1150).

[0187] As a result, the tilting drive unit (1900) is driven and when the length is adjusted, the rear side of the tilting frame (1150) moves away from the ground (from the lower side to the upper side in Fig. 12), and can be rotated counterclockwise based on the rotation center axis (AX1) formed in the area where the front side of the tilting frame (1150) and the base frame (1130) are connected.

[0188] Referring to FIG. 5, the tilting frame (1150) is positioned between the base frame (1130) and the body frame, and can rotate relative to the base frame (1130) by transmitting power from the tilting drive unit (1900) to be described later.

[0189] Referring to FIG. 11, as the tilting frame (1150) rotates relative to the base frame (1130), the body frame coupled to the tilting frame (1150) can rotate, i.e., the massage device (100) can be brought into a 'standing state (or standing mode)' as it rotates toward the front (left side as shown in FIG. 11).

[0190] In this standing state, when the user is sitting on the massage device (100), the user who has received the massage can easily stand up toward the front side, and when the user is trying to sit on the massage device (100), the area where the user can sit on the seat portion (1000a) located on the seat frame (1120) is moved toward the upper front side, thereby enabling the user to easily sit down.

[0191] A tilting frame (1150) according to one embodiment of the present invention may be rotatably connected to a base frame (1130) at a plurality of points. Specifically, the plurality of points may be arranged on a rotational center axis (AX1) of the tilting frame (1150) with respect to the base frame (1130) and may be spaced apart from each other along the width direction (left-right direction based on FIG. 6) of the massage device (100).

[0192] Referring to FIGS. 2, 5, and 7, the positions of the body frame, specifically the seat frame (1120) and the back frame (1110), connected to the tilting frame (1150) according to one embodiment of the present invention can be fixed.

[0193] As the tilting frame (1150) receives power from the tilting drive unit (1900) and rotates relative to the base frame (1130), the angle formed between the ground and the seat frame (1120) can be changed.

[0194] Referring to FIG. 7, when the tilting frame (1150) is in a state in which it does not rotate with respect to the base frame (1130) and is referred to as the 'default state (default mode)', the body frame, specifically the seat frame (1120), may be positioned relatively higher (based on FIG. 7) on the front side (left side based on FIG. 7) than on the rear side (right side based on FIG. 7).

[0195] From another perspective, the seat frame (1120) can be positioned so as to be inclined upward toward the front. This allows the user to comfortably sit on the seat frame (1120) and receive a massage in the default state.

[0196] Referring to FIGS. 11 and 12, the tilting frame (1150) is in a standing state rotated with respect to the base frame (1130), and the body frame, specifically the seat frame (1120) coupled with the tilting frame (1150) can be positioned relatively lower (based on FIG. 11) on the front side (left side based on FIG. 7) than on the rear side (right side based on FIG. 7).

[0197] Looking at it from another perspective, the seat frame (1120) can be arranged to be inclined downward toward the front.

[0198] Accordingly, when a user attempts to sit down to use the massage device (100), the rear side of the seat frame (1120) and the seat portion (1000a) on which the user wishes to sit is raised toward the upper front side, so that the seating point can be positioned relatively higher than the basic state, and there is an effect of allowing the user to easily sit on the seat portion (1000a).

[0199] In addition, when the user uses the massage device (100) and wants to get out of the massage device (100), the rear side of the seat frame (1120) and the seat part (1000a) on which the user is seated are raised toward the upper front side, so that the user can easily get out of the seat part (1000a).

[0200] Referring to FIGS. 5 to 7, one side of a tilting drive unit (1900) may be connected to a tilting frame (1150) according to one embodiment of the present invention, and as the tilting drive unit (1900) is driven, the tilting frame (1150) may rotate relative to the base frame (1130) and change from a basic state to a standing state.

[0201] Specifically, when the tilting frame (1150) rotates counterclockwise with respect to the rotation center axis (AX1) of the tilting frame (1150) with respect to the base frame (1130), it can be changed from the basic state to the standing state.

[0202] Additionally, when the tilting frame (1150) rotates clockwise with respect to the rotation center axis (AX1) of the tilting frame (1150) with respect to the base frame (1130), the tilting frame (1150) can be changed from the standing state to the basic state.

[0203] Referring to FIGS. 2, 5 to 7, 11, and 12, a tilting drive unit (1900) according to one embodiment of the present invention connects a base frame (1130), specifically a base lower frame (1132), and a tilting frame (1150), and transmits power to the tilting frame (1150) so that the tilting frame (1150) can rotate relative to the base frame (1130) about a rotation center axis (AX1) that is preset.

[0204] Referring to FIGS. 5 to 7, a tilting drive unit (1900) according to one embodiment of the present invention may have one end connected to a base frame (1130) and the other end opposite thereto connected to a tilting frame (1150).

[0205] The tilting drive unit (1900) can be adjusted in length by being driven by external power supply. As the length of the tilting drive unit (1900) is adjusted, the tilting frame (1150) can be rotated with respect to the base frame (1130) about the rotation center axis (AX1), and a standing mode can be possible.

[0206] However, it is not limited to this, and various modifications such as a volume expansion method or an angle adjustment method such as an air cell are possible within the technical concept that the tilting frame (1150) can rotate relative to the base frame (1130) as the tilting drive unit (1900) is driven.

[0207] Referring to Fig. 7, one end of the tilting drive unit (1900) can be connected to the center of the base frame (1130) in the front-rear direction (left-right direction based on Fig. 7).

[0208] This has the effect of allowing the base frame (1130) to remain stably in contact with the ground even when the length of the tilting drive unit (1900) is adjusted while in contact with the ground.

[0209] The tilting drive unit (1900) can be adjusted in length using an actuator. However, this is not limited to this, and various modifications are possible, such as adjusting the length by operating the tilting drive unit (1900) using a cylinder.

[0210] The tilting drive unit (1900) can be electrically connected to the control unit (1200). The tilting drive unit (1900) can be driven by receiving an electrical signal from the control unit (1200), and as the tilting drive unit (1900) is driven, the length of the tilting drive unit (1900) is adjusted, and the tilting frame (1150) and the body frame coupled to the tilting frame (1150) can rotate relative to the base frame (1130).

[0211] Referring to FIGS. 5 and 6, the tilting actuator (1900) according to one embodiment of the present invention is formed as a single unit, but is not limited thereto and may be provided in multiple units. The multiple tilting actuators (1900) may be spaced apart from each other in the width direction between the massage device (100), specifically, the base frame (1130) and the body frame.

[0212] Since a plurality of tilting drive units (1900) are provided, there is an effect of distributing the load applied when the tilting frame (1150) and the body frame coupled to the tilting frame (1150) are rotated relative to the base frame (1130).

[0213] Referring to FIG. 6, a tilting drive unit (1900) according to one embodiment of the present invention may be positioned on a side spaced apart from the center based on the width direction (left-right direction based on FIG. 6) of the massage device (100), specifically, the base frame (1130) and the tilting frame (1150).

[0214] This has the effect of preventing interference with other driving units (or actuators) located in the central portion of the base frame (1130) and tilting frame (1150).

[0215] Referring to FIGS. 5 to 7 and 11, a tilting drive unit (1900) according to one embodiment of the present invention may include a tilting drive source (1910) and a tilting rod (1950).

[0216] Referring to FIGS. 5 to 7, a tilting drive source (1910) according to one embodiment of the present invention generates driving force and can be connected to a base frame (1130).

[0217] Specifically, the tilting drive unit (1910) is connected to the base lower frame (1132), but is not limited thereto and various modifications are possible, such as being connected to the base upper frame (1131).

[0218] The tilting drive unit (1910) can be rotatably connected to the base frame (1130), specifically, the base lower frame (1132). This allows the tilting rod (1950) to be described later to be adjusted in length, and provides a stable rotation path when the tilting frame (1150) rotates relative to the base frame (1130).

[0219] That is, when the tilting frame (1150) rotates relative to the base frame (1130), the load can be prevented from being concentrated in the area where the tilting drive source (1910) and the base frame (1130) are connected, compared to when the tilting drive source (1910) is fixedly positioned and connected to the base frame (1130).

[0220] According to one embodiment of the present invention, the tilting drive source (1910) may be positioned relatively lower (as shown in FIG. 5) than the tilting rod (1950). In other words, the area where the tilting drive source (1910) and the base frame (1130) are connected may be positioned relatively lower than the area where the tilting rod (1950) and the tilting frame (1150) are connected.

[0221] That is, since the tilting rod (1950) whose length is adjusted is placed relatively upward (based on FIG. 5), there is an effect of reducing the load applied to the tilting drive unit (1900) when the tilting frame (1150) is rotated with respect to the base frame (1130).

[0222] According to one embodiment of the present invention, the tilting drive unit (1910) receives an electric signal from the control unit (1200) and adjusts the length of the tilting rod (1950) in a motor manner, but is not limited thereto, and various modifications are possible within the technical concept of adjusting the length of the tilting rod (1950) by transmitting power to the tilting rod (1950) such as a compressor.

[0223] Referring to FIGS. 5 and 7, the tilting drive unit (1910) may be connected to a position corresponding to the lowest point of the body frame on the base frame (1130). Specifically, the tilting drive unit (1910) may be connected to a position facing the area where the back frame (1110) and the seat frame (1120) are connected.

[0224] As a result, when power is generated from the tilting drive unit (1910) and the length of the tilting rod (1950) is adjusted, that is, when the tilting frame (1150) rotates relative to the base frame (1130) and the back frame (1110) is in a standing state in the forward direction (from right to left in FIG. 5), the body frame can be prevented from being excessively tilted forward.

[0225] Referring to FIGS. 5 to 7, a tilting rod (1950) according to one embodiment of the present invention is connected to a tilting driving source (1910), and receives power from the tilting driving source (1910) to enable length adjustment.

[0226] Referring to FIGS. 5 to 7, a tilting rod (1950) according to one embodiment of the present invention can be rotatably connected to a tilting frame (1150). Accordingly, when power is transmitted from a tilting drive source (1910) and the tilting frame (1150) rotates relative to the base frame (1130), a stable rotation path can be provided.

[0227] That is, when the tilting frame (1150) rotates relative to the base frame (1130), the end of the tilting rod (1950) is fixed in position to the tilting frame (1150) and is connected, so that the load can be prevented from being concentrated in the area where the tilting rod (1950) and the tilting frame (1150) are connected.

[0228] According to one embodiment of the present invention, the tilting rod (1950) may be positioned relatively higher (as shown in FIG. 5) than the tilting drive source (1910). In other words, the area where the tilting rod (1950) and the tilting frame (1150) are connected may be positioned relatively higher than the area where the tilting drive source (1910) and the base frame (1130) are connected.

[0229] That is, since the tilting rod (1950) whose length is adjusted is placed relatively upward (based on FIG. 5), there is an effect of reducing the load applied to the tilting drive unit (1900) when the tilting frame (1150) is rotated with respect to the base frame (1130).

[0230] Referring to FIGS. 5 to 7, the tilting rod (1950) can be formed in various variations, such as in a rack-and-pinion manner or a cylinder manner, within the technical concept of adjusting the length by receiving power from the tilting drive source (1910).

[0231] Referring to FIG. 5 and FIG. 7, the tilting rod (1950) can be arranged to slope upward from the front (left side of FIG. 5) to the rear (right side of FIG. 5) with respect to the base frame (1130).

[0232] This has the effect of minimizing the load applied to the tilting drive unit (1900) by bringing it closer to the vertical direction when the length of the tilting rod (1950) increases in the direction away from the ground.

[0233] Referring to FIG. 5 and FIG. 7, one end of a tilting rod (1950) connected to a tilting drive source (1910) is connected to a tilting frame (1150), and the other end can be positioned relatively higher (based on FIG. 5) than the rotational center axis (AX1) of the tilting frame (1150) with respect to the base frame (1130).

[0234] Referring to FIGS. 1, 2, 5, 8, and 9, a leg massage unit (2000) according to one embodiment of the present invention massages a user's legs and is rotatably connected to a body frame, and may include a fixed frame unit (2100), a movable frame unit (2300), a length driving unit (2500), a length sensing unit (2700), a hinge driving unit (2800), and a contact roller unit (2900).

[0235] Referring to FIG. 1, a plurality of leg massage units (2000) according to one embodiment of the present invention may be provided. Each of the plurality of leg massage units (2000) may include a fixed frame unit (2100), a movable frame unit (2300), a length driving unit (2500), a length sensing unit (2700), a hinge driving unit (2800), and a contact roller unit (2900).

[0236] Among the multiple leg massage units (2000A, 2000B), one leg massage unit (2000A) can accommodate the user's right foot, and the other leg massage unit (2000B) can accommodate the user's left foot.

[0237] The leg massage unit (2000) may further include a leg massage main body (2200), and the leg massage main body (2200) may include a calf massage main body (2210) that provides a massage function to the user's calf by placing and inserting the user's calf, and a foot massage main body (2250) that provides a massage function to the user's foot by placing the user's foot.

[0238] Referring to FIG. 8, the leg massage unit (2000) that receives the user's right foot among the multiple leg massage units (2000A, 2000B) is illustrated, and is a drawing showing a state in which the leg massage unit (2200) illustrated in FIG. 1, specifically the calf massage unit (2210) and the foot massage unit (2250) are omitted.

[0239] The leg massage body (2200) according to one embodiment of the present invention can be coupled to a moving frame part (2300) to be described later.

[0240] According to one embodiment of the present invention, the leg massage body (2200), specifically the calf massage body (2210) and the foot massage body (2250), are fixed in position to the movable frame part (2300) and can move relative to the fixed frame part (2100).

[0241] That is, as the movable frame part (2300) moves relative to the fixed frame part (2100), the calf massage body (2210) and the foot massage body (2250) can move relative to the fixed frame part (2100) as a whole.

[0242] As an optional embodiment, a plurality of moving frame parts (2300) are provided, and one of the plurality of moving frame parts (2300) can be coupled to the calf massage body (2210), and the other can be coupled to the foot massage body (2250).

[0243] Accordingly, the plurality of moving frame parts (2300) to which the foot massage body (2250) and the calf massage body (2210) are respectively coupled can move in the same direction on the fixed frame part (2100), move in opposite directions, move close to each other, or move independently while being spaced apart from each other.

[0244] In addition, the foot massage body (2250) into which the user's foot is inserted and placed and the calf massage body (2210) into which the user's calf is inserted and placed are separated from each other and can move independently on the fixed frame part (2100), so that the length of the leg massage part (2000) can be adjusted in various ways to accommodate various user leg lengths.

[0245] Multiple leg massage units (2000) can operate independently by receiving electrical signals from the control unit (1200).

[0246] Specifically, the multiple leg massage parts (2000A, 2000B) can be independently rotated along a preset rotation center axis (AX1) or can be independently adjusted in length by driving a length driving part (2500) to be described later.

[0247] Referring to FIGS. 8, 9, and 10A, among the plurality of leg massage units (2000A, 2000B) according to one embodiment of the present invention, the leg massage unit (2000A) that receives the user's right foot has the leg massage body (2200) omitted, and the other leg massage unit (2000B) receives the user's left foot, but the configuration, operating principle, and effect of the fixed frame unit (2100), the movable frame unit (2300), the length sensing unit (2700), the length driving unit (2500), and the hinge driving unit (2800) are the same. Therefore, the following description will be made based on the leg massage unit (2000, 2000A) that can receive the user's right foot.

[0248] Referring to FIG. 1, a leg massage body (2200) according to one embodiment of the present invention may include a leg massage body housing (drawing symbol not set) that forms an exterior and into which a user's leg can be inserted.

[0249] Referring to FIG. 1, a leg massage body housing according to one embodiment of the present invention may have a receiving space formed to receive a user's leg.

[0250] The leg massage body (2200) is coupled to the moving frame part (2300), and a foot massage module (drawing symbol not set) can be placed so as to provide a massage to the user's feet accommodated in the leg massage body housing.

[0251] Since the leg massage body (2200) is coupled with the movable frame part (2300), the leg massage body (2200) can move together with the movable frame part (2300) as the fixed frame part (2100) and the movable frame part (2300) move relative to each other.

[0252] Referring to FIGS. 10A to 10C, the length of the user's leg area receiving massage (hereinafter referred to as 'leg length') can be adjusted as the movable frame part (2300) to which the leg massage body (2200) is coupled moves relative to the fixed frame part (2100).

[0253] Referring to FIGS. 5 to 8, a fixed frame portion (2100) according to one embodiment of the present invention is rotatably connected to a body massage portion (1000), and specifically, can be rotatably connected to a seat frame (1120).

[0254] Since the fixed frame part (2100) is rotatably connected along a rotation center axis (AX1) preset to the seat frame (1120), the leg massage part (2000) has the effect of being able to rotate clockwise or counterclockwise with respect to the body massage part (1000).

[0255] Referring to FIGS. 8, 9, and 10a to 10c, a movable frame part (2300) can be connected to a fixed frame part (2100) so as to be relatively movable. That is, while the position of the fixed frame part (2100) is fixed, the movable frame part (2300) can move along the movement center axis (AX2) on the fixed frame part (2100).

[0256] Fig. 10a illustrates a state in which the length of the leg massage part (2000) is not adjusted, and Fig. 10b illustrates a state in which the length of the leg massage part (2000) has increased. Specifically, the movable frame part (2300) is moved in a first direction (from the upper side to the lower side in Fig. 10b) with respect to the fixed frame part (2100).

[0257] FIG. 10c illustrates a state in which the length of the leg massage part (2000) has been reduced, and the movable frame part (2300) has moved in a second direction (from the lower side to the upper side in FIG. 10c) opposite to the first direction with respect to the fixed frame part (2100).

[0258] In this specification, the 'length of the leg massage part (2000) (or leg length)' means the distance from the top of the fixed frame part (2100) (based on FIG. 10a) to the bottom of the movable frame part (2300) (based on FIG. 10a).

[0259] That is, when the movable frame part (2300) moves in the first direction with respect to the fixed frame part (2100), it means that the length of the leg massage part (2000) (or leg length) has increased, and when it moves in the second direction, it means that the length of the leg massage part (2000) has decreased.

[0260] Referring to FIGS. 8 and 9, a fixed frame portion (2100) according to one embodiment of the present invention may include a fixed frame body (2110), a hinge shaft (2130), and a shaft holder (2150).

[0261] The fixed frame body (2110) is connected to the movable frame part (2300), and a guide rail (2111) can be formed in the shape of a groove along the movement center axis (AX2) of the movable frame part (2300).

[0262] As the guide protrusion (2301) provided in the movable frame part (2300) is inserted into the guide rail (2111), the movable frame part (2300) can move relative to the fixed frame part (2100).

[0263] Referring to FIGS. 8 and 9, the hinge shaft (2130) is coupled to the fixed frame body (2110) and may be formed to extend along the width direction of the fixed frame body (2110). Specifically, the hinge shaft (2130) is formed in a cylindrical shape and may be coupled to the fixed frame body (2110).

[0264] The longitudinal central axis of the hinge shaft (2130) can be formed identically to the rotational central axis (AX1) of the fixed frame portion (2100) for the body massage portion (1000), specifically the seat frame (1120).

[0265] Referring to FIGS. 8, 9, and 10a, a shaft holder (2150) according to one embodiment of the present invention is rotatably connected to a hinge shaft (2130), and can be placed on a frame portion (1100) provided in a body massage portion (1000), specifically, a seat frame (1120).

[0266] A plurality of shaft holders (2150) may be provided, and the plurality of shaft holders (2150) may be connected to each of both sides of the hinge shaft (2130). A holder groove (2151) may be formed in the shaft holder (2150), and an end of the hinge shaft (2130) may be inserted into the holder groove (2151).

[0267] The shaft holder (2150) can be positioned and fixed to the seat frame (1120). As an optional embodiment, the shaft holder (2150) can be positioned and fixed to the seat frame (1120) via a holder bracket (drawing symbol not set).

[0268] Referring to FIGS. 5, 7, 8, and 10a, a movable frame part (2300) according to one embodiment of the present invention is coupled with a leg massage body (2200) into which a user's leg can be inserted, and is capable of relative movement with a fixed frame part (2100).

[0269] The moving frame unit (2300) may include a first moving frame (2310) coupled with a calf massage body (2210) and a second moving frame (2350) coupled with a foot massage body (2250).

[0270] The first moving frame (2310) and the second moving frame (2350) are connected to each other and can move together when moving relative to the fixed frame (2100) by receiving power from the length driving unit (2500) to be described later.

[0271] As an optional embodiment, the first moving frame (2310) and the second moving frame are formed integrally and can move relative to the fixed frame portion (2100).

[0272] Referring to FIG. 8 and FIG. 9, a guide protrusion (2301) may be formed to protrude toward the fixed frame body (2110) on one side of the fixed frame portion (2100), specifically, the movable frame portion (2300) facing the fixed frame body (2110).

[0273] Since the guide protrusion (2301) is movable on the guide rail (2111) formed on the fixed frame part (2100), specifically the fixed frame body (2110), there is an effect that the movable frame part (2300) can move linearly along the movement center axis (AX2) with respect to the fixed frame part (2100).

[0274] The guide protrusion (2301) can be located on the inside of the guide rail (2111) formed on the fixed frame body (2110), and can move along the longitudinal direction (up-down direction based on FIG. 8) of the leg massage part (2000) while being hung on the guide rail (2111).

[0275] Referring to FIG. 8 and FIG. 9, the guide protrusion (2301) can be formed protrudingly on at least one of the moving frame portion (2300), specifically the first moving frame (2310) and the second moving frame (2350).

[0276] Referring to FIGS. 5, 7 to 9, and 10a, a length driving unit (2500) according to one embodiment of the present invention is disposed between a fixed frame unit (2100) and a movable frame unit (2300), and generates rotational power to move the movable frame unit (2300) relative to the fixed frame unit (2100), specifically, move it linearly.

[0277] The length driving unit (2500) connects the fixed frame unit (2100) and the movable frame unit (2300), and transmits power to the movable frame unit (2300) so that the movable frame unit (2300) can be linearly moved in a preset direction (up and down direction based on FIG. 8) with respect to the fixed frame unit (2100).

[0278] Referring to FIGS. 8 and 9, a length driving unit (2500) according to one embodiment of the present invention may include a length driving source unit (2510), a lead unit (2530), and a power transmission unit (2550).

[0279] Referring to FIG. 9, the longitudinal driving unit (2510) receives power and generates power, and can transmit the power to the power transmission unit (2550) described later. The longitudinal driving unit (2510) can generate rotational power. However, it is not limited thereto, and various modifications, such as generating linear power, are possible within the technical concept of transmitting power to the power transmission unit (2550).

[0280] Referring to FIG. 8 and FIG. 9, the lead portion (2530) is coupled to the fixed frame portion (2100) and can be formed to extend along a direction parallel to the movement center axis (AX2) of the movable frame portion (2300) (upper and lower direction based on FIG. 8).

[0281] A lead portion (2530) according to one embodiment of the present invention may include a lead base (2531) and a lead shaft (2535). The lead base (2531) is coupled to a fixed frame portion (2100), specifically, a fixed frame body (2110), and may be placed on one side of the fixed frame body (2110) facing forward.

[0282] In the present invention, the lead base (2531) is formed in a plate shape and is positionally fixed to the fixed frame body (2110), but is not limited thereto and various modifications are possible, such as being formed integrally with the fixed frame body (2110).

[0283] The lead base (2531) may include a lead bracket (2532) that protrudes the lead shaft (2535) forward.

[0284] Referring to FIG. 8 and FIG. 9, a plurality of lead brackets (2532) may be provided, and the plurality of lead brackets (2532) may be connected to both ends (upper and lower ends based on FIG. 8) of the lead shaft (2535).

[0285] One side of the lead bracket (2532) connected to the lead shaft (2535) may be positioned relatively forward of the fixed frame body (2110).

[0286] That is, since the lead bracket (2532) is placed between the lead shaft (2535) and the fixed frame body (2110), the lead shaft (2535) can be placed at a predetermined distance from one side of the fixed frame body (2110) connected to the lead base (2531) on which the lead bracket (2532) is provided.

[0287] In other words, since the lead shaft (2535) is not arranged on the same plane as the fixed frame body (2110), there is an effect of preventing interference with other components (e.g., electrical components) located inside the fixed frame body (2110).

[0288] According to one embodiment of the present invention, the lead bracket (2532) is connected to both ends (upper and lower ends in FIG. 8) of the lead shaft (2535), so that the position of the lead shaft (2535) can be stably fixed on the fixed frame part (2100).

[0289] Referring to FIG. 8 and FIG. 9, the lead shaft (2535) is connected to the lead base (2531) and can be formed to extend along the longitudinal direction (upper and lower direction based on FIG. 8).

[0290] As described above, the lead shaft (2535) can be protruded forward of the fixed frame portion (2100) by the lead base (2531), specifically the lead bracket (2532).

[0291] The power transmission unit (2550) to be described later can move along a preset direction (up and down direction based on FIG. 8) on the lead shaft (2535), and the lead shaft (2535) can provide a movement path to the power transmission unit (2550).

[0292] The length of the lead shaft (2535) formed to extend along a preset direction (or height direction) (up-down direction based on FIG. 8) can be formed to be relatively shorter than the length of the fixed frame part (2100).

[0293] Due to this, the length of the lead shaft (2535) along the height direction is positioned within the length range of the fixed frame part (2100), and since it is fixed, when the movable frame part (2300) moves relative to the fixed frame part (2100), the lead shaft (2535) can be prevented from being exposed to the outside of the fixed frame part (2100).

[0294] In addition, since the lead shaft (2535) is not exposed to the outside of the fixed frame part (2100), it is possible to prevent contact and interference with the user's legs and other parts when the lead shaft (2535) is exposed, and it has the effect of preventing safety accidents from occurring.

[0295] The outer surface of the lead shaft (2535) may have threads formed along the circumference. The lead shaft (2535) and the power transmission unit (2550) may be connected by a screw connection, and a screw groove (not shown in the drawing) may be formed on the inner surface of the power transmission unit (2550) facing the outer surface of the lead shaft (2535), specifically, the moving unit (2556).

[0296] Referring to FIGS. 8, 9, and 10a, a power transmission unit (2550) according to one embodiment of the present invention is coupled to a moving frame unit (2300), and can receive power from a length driving unit (2510) and move on a lead unit (2530).

[0297] The power transmission unit (2550) may include a power transmission housing (2551) and a power transmission body (2555). The power transmission housing (2551) is fixedly positioned and coupled to the movable frame unit (2300), and may accommodate the power transmission body (2555) therein.

[0298] Referring to FIG. 8, the power transmission housing (2551) can be fixedly positioned on the movable frame part (2300) and can move together as the movable frame part (2300) moves relative to the fixed frame part (2100).

[0299] Referring to FIGS. 8 and 9, a power transmission housing (2551) may be coupled with a length detection unit (2700) to be described later, specifically a sensor cover (2750) that accommodates a sensor body (2730). The length detection unit (2700) will be described in detail later.

[0300] The power transmission body (2555) is accommodated in the power transmission housing (2551), receives power from the longitudinal driving unit (2510), and can move on the lead unit (2530). The power transmission body (2555) may include a moving unit (2556) and a pulley unit (2557).

[0301] Referring to FIG. 9, a moving unit (2556) according to one embodiment of the present invention moves on a lead part (2530) and can be connected to the lead part (2530) in a screw-joint manner.

[0302] Specifically, a screw thread may be formed along the circumferential direction on the outer surface of the lead portion (2530), specifically the lead shaft (2535), and a screw groove having a shape corresponding to the shape of the screw thread may be formed in the shape of the groove on the inner surface of the moving unit (2556) facing the outer surface of the lead shaft (2535).

[0303] This has the effect of enabling the moving unit (2556) to receive power from the length driving unit (2510) through the pulley unit (2557) described later and move linearly on the lead shaft (2535).

[0304] That is, the rotational power generated from the length driving unit (2510) by the moving unit (2556) can be converted into linear power so that it can move along a preset direction (up and down direction based on FIG. 8) on the lead shaft (2535).

[0305] Referring to FIGS. 8, 9, and 10a, a pulley unit (2557) according to one embodiment of the present invention connects a length driving unit (2510) and a moving unit (2556), and can transmit power generated from the length driving unit (2510) to the moving unit (2556).

[0306] The pulley unit (2557) can be formed in a belt shape or a ring shape, and can transmit the rotational power generated from the length driving unit (2510) to the moving unit (2556).

[0307] Specifically, the rotational power generated from the pulley unit (2557) can rotate the moving unit (2556).

[0308] The moving unit (2556), which receives rotational power from the pulley unit (2557), can rotate around the longitudinal central axis of the lead portion (2530) as the rotational center axis, and the moving unit (2556) can move along a preset direction (up and down direction based on FIG. 8) on the lead portion (2530), specifically, the lead shaft (2535).

[0309] As the moving unit (2556) moves on the lead shaft (2535), the power transmission housing (2551) that accommodates the moving unit (2556) and the moving frame part (2300) coupled to the power transmission housing (2551) can move relative to the fixed frame part (2100).

[0310] Referring to FIGS. 8 and 9, the lead portion (2530), specifically the lead shaft (2535), passes through the power transmission housing (2551) and can provide a movement path of the power transmission housing (2551).

[0311] Specifically, a hole (drawing symbol not set) can be formed through which a lead shaft (2535) can pass in the power transmission housing (2551), and since the power transmission housing (2551) in which the hole is formed is arranged to surround the lead shaft (2535), there is an effect that the power transmission unit (2550) and the movable frame unit (2300) in which the power transmission unit (2550) is fixed in position can move stably with respect to the fixed frame unit (2100).

[0312] Referring to FIGS. 8, 9, and 10a, a length detection unit (2700) according to one embodiment of the present invention is installed in a fixed frame unit (2100) and a movable frame unit (2300), and can measure a relative movement length as the movable frame unit (2300) and the fixed frame unit (2100) move relative to each other.

[0313] In the present invention, 'measuring the relative movement length' means measuring the change in leg length when the moving frame part (2300) to which the leg massage body (2200) that receives the user's leg is coupled moves relative to the fixed frame part (2100) in which the rotation center axis (AX1) is fixedly positioned on one side (upper side based on FIG. 10a).

[0314] That is, the length from the hinge shaft (2130) provided in the fixed frame part (2100) to the bottom of the leg massage body (2200), specifically the foot massage body (2250), where the user's foot is received, can be regarded as the leg length, and the leg length can change as the fixed frame part (2100) and the movable frame part (2300) to which the leg massage body (2200) is coupled move relative to each other.

[0315] A length detection unit (2700) according to one embodiment of the present invention can accurately recognize changes in leg length by measuring the relative movement length according to the relative movement of the movable frame unit (2300) and the fixed frame unit (2100).

[0316] In addition, since the change in leg length can be accurately recognized, there is an effect of being able to accurately recognize the position of the user's feet accommodated in the leg massage body (2200) coupled to the moving frame part (2300).

[0317] Referring to FIG. 9, a length detection unit (2700) according to one embodiment of the present invention may include a sensor plate (2710), a sensor body (2730), and a sensor cover (2750).

[0318] Referring to FIGS. 8, 9, and 10a, a sensor plate (2710) according to one embodiment of the present invention is disposed on the irradiation path of light irradiated from the sensor body (2730), and a passage hole (2711) may be formed to allow light to pass through.

[0319] A sensor plate (2710) according to one embodiment of the present invention may be formed of a plastic material. Specifically, it may be formed of a polypropylene (PP) material.

[0320] However, it is not limited to this, and the sensor plate (2710) can be formed in various forms, such as being made of metal, acrylonitrile butadiene styrene (ABS), or polycarbonate (PC).

[0321] The sensor plate (2710) can be positionally fixed to the fixed frame portion (2100). Specifically, the sensor plate (2710) can be coupled to the fixed frame portion (2100) via the lead base (2531).

[0322] Referring to FIGS. 8 and 9, the sensor plate (2710) is connected to the lead base (2531), but is not limited thereto and various modifications are possible, such as being directly connected to the fixed frame portion (2100).

[0323] In the following, the description will be made based on the assumption that the lead base (2531) is formed integrally with the fixed frame portion (2100), and that the sensor plate (2710) is coupled to the fixed frame portion (2100).

[0324] Although not shown in the drawing, the sensor plate (2710) can be positionally fixed to the fixed frame part (2100) by a fastening member such as a bolt.

[0325] The sensor plate (2710) is formed to extend along the longitudinal central axis, and one side (upper side as shown in FIG. 8) can be positioned and fixed to the fixed frame part (2100).

[0326] According to one embodiment of the present invention, a sensor plate (2710) has one side (upper side as shown in FIG. 8) positioned and fixed to a fixed frame part (2100), and the other side (lower side as shown in FIG. 8) opposite thereto can be spaced apart from the fixed frame part (2100).

[0327] Accordingly, the sensor plate (2710) can have its position flexibly changed on the other side (lower side as shown in FIG. 8) opposite to the one side (upper side as shown in FIG. 8) that is fixed in position on the fixed frame part (2100) as the sensor body (2730) moves on the sensor plate (2710).

[0328] In addition, since only one side (the upper side as shown in FIG. 8) of the sensor plate (2710) is fixed to the fixed frame part (2100) and the other side has an increased degree of freedom, when the sensor body (2730) moves on the sensor plate (2710) and comes into contact with it, the position of the sensor plate (2710) can be adjusted in response to a change in the position of the sensor body (2730).

[0329] That is, friction between the sensor body (2730) and the sensor plate (2710) can be reduced, and damage to the sensor body (2730) and the sensor plate (2710) due to friction can be prevented.

[0330] Referring to FIG. 8, the sensor plate (2710) can be connected to the side with respect to the center of the fixed frame portion (2100).

[0331] This can prevent interference between the length driving part (2500) connected to the fixed frame part (2100), specifically the lead part (2530), and the sensor plate (2710).

[0332] In the present invention, the sensor plate (2710) is positionally fixed to the fixed frame portion (2100), and a fastening hole portion (drawing symbol not set) is formed on one side of the sensor plate (2710) so that a fastening member can pass through it and be fastened to the fixed frame portion (2100), but this is not limited thereto, and various modifications are possible, such as the sensor plate (2710) is positionally fixed to the movable frame portion (2300), and a fastening hole portion is formed on one side of the sensor plate (2710) so that a fastening member can pass through it and be fastened to the movable frame portion (2300).

[0333] Referring to FIG. 8, the sensor plate (2710) is positioned and fixed to the fixed frame part (2100) only on one side (the upper side as shown in FIG. 8), and the opposite side (the lower side as shown in FIG. 8) is spaced from the fixed frame part (2100) to increase the degree of freedom.

[0334] Referring to FIGS. 8, 9, and 10a to 10c, a sensor plate (2710) according to one embodiment of the present invention may have a passage hole (2711) formed therein so that light irradiated from the sensor body (2730) may pass therethrough.

[0335] The sensor plate (2710) passes through the sensor body (2730) and can be placed inside the sensor body (2730), and specifically, can be placed between the light emitting unit and the light receiving unit provided in the sensor body (2730).

[0336] Since a passage hole (2711) is formed in the sensor plate (2710), light emitted from the light emitting unit can pass through the passage hole (2711) and be transmitted to the light receiving unit in the area where the passage hole (2711) is formed on the sensor plate (2710).

[0337] When light is received from the light receiving unit, information about it can be transmitted to the control unit (1200), and based on the information, it can be determined where the sensor body (2730) is located on the sensor plate (2710).

[0338] Looking at this from another perspective, the movable frame part (2300) in which the sensor body (2730) is fixed in position moves relative to the fixed frame part (2100) in which the sensor plate (2710) is fixed in position, and the position of the movable frame part (2300) that has moved relative to the fixed frame part (2100) can be recognized.

[0339] Looking at this from another perspective, a leg massage body (2200) that receives the user's legs is coupled to a movable frame part (2300), and the position of the leg massage body (2200) coupled to the movable frame part (2300) that moves relative to the fixed frame part (2100) can be recognized.

[0340] This has the effect of accurately recognizing changes in leg length by measuring the relative movement length according to the relative movement of the movable frame part (2300) and the fixed frame part (2100).

[0341] In addition, since the change in leg length can be accurately recognized, there is an effect of being able to accurately recognize the position of the user's feet accommodated in the leg massage body (2200) coupled to the moving frame part (2300).

[0342] Referring to FIGS. 10A to 10C, a plurality of passage holes (2711) may be formed in the sensor plate (2710) according to one embodiment of the present invention.

[0343] Specifically, a plurality of passage holes (2711a, 2711b, 2711c, 2711d) can be arranged along the width direction (left-right direction based on FIG. 10a) of the sensor plate (2710).

[0344] Referring to Fig. 8, a plurality of passage holes (2711a, 2711b, 2711c, 2711d) may correspond to a plurality of light-emitting units and light-receiving units arranged along the width direction of the sensor body (2730). Accordingly, when light is irradiated from any one of the plurality of light-emitting units to the light-receiving unit facing the light-emitting unit, the light may pass through the passage hole (2711) located between the light-emitting unit and the light-receiving unit and be transmitted to the light-receiving unit.

[0345] Referring to FIG. 10a, a plurality of passage holes (2711) can be arranged along the width direction of the sensor plate (2710).

[0346] Specifically, among the plurality of passage holes (2711a, 2711b, 2711c, 2711d) formed in the sensor plate (2710), the first passage hole (2711a), the second passage hole (2711b), and the fourth passage hole (2711d) may be spaced apart in the width direction of the sensor plate (2710) along an axis formed parallel to the longitudinal (up-down direction based on FIG. 10a) central axis of the sensor plate (2710).

[0347] The first through hole (2711a), the second through hole (2711b), and the fourth through hole (2711d) formed in the sensor plate (2710) may be formed along at least one of a plurality of axes.

[0348] Referring to FIGS. 10a to 10c, the first passage hole (2711a), the third passage hole (2711c), and the fourth passage hole (2711d) are not formed at the same height along the longitudinal direction (upper and lower direction based on FIG. 10a) of the sensor plate (2710).

[0349] That is, the first passage hole (2711a), the third passage hole (2711c), and the fourth passage hole (2711d) can be formed only on one of the multiple axes in a section preset along the longitudinal direction of the sensor plate (2710).

[0350] Referring to FIG. 10b, the fourth passage hole (2711d) can be formed on the same axis as any one of the first passage hole (2711a), the second passage hole (2711b), and the third passage hole (2711c).

[0351] Specifically, the fourth passage hole (2711d) can be formed on the axis on which the third passage hole (2711c), which is positioned relatively at the bottom, is formed.

[0352] Referring to FIG. 10b, the movable frame part (2300) is shown in a state where it moves from the upper side to the lower side (based on FIG. 10b) with respect to the fixed frame part (2100). For convenience of explanation, the sensor body (2730) illustrated in FIG. 8 is spaced apart from the third passage hole part (2711c), but in the present invention, the position of the movable frame part (2300) with respect to the fixed frame part (2100) where the light irradiated from the light emitting part provided in the sensor body (2730) passes through the third passage hole part (2711c) means a state where the leg length of the leg massage part (2000) is maximized.

[0353] In this specification, the above position is defined as ‘maximum position (P3)’.

[0354] In this case, the moving frame part (2300) may have a state of moving away from the rotational center axis (AX1) of the leg massage part (2000) with respect to the body frame, specifically, the seat frame (1120).

[0355] Referring to FIGS. 8, 9, 10a, and 10b, the fourth passage hole (2711d) can be positioned on the axis on which the third passage hole (2711c) is formed.

[0356] The position of the moving frame part (2300) relative to the fixed frame part (2100) through which the light irradiated from the light emitting part provided in the sensor body (2730) passes through the fourth passage hole part (2711d) means the leg length of the leg massage part (2000) in the basic state in which the user receives the massage function, not in the standing state of the massage device (100).

[0357] In this specification, the above position is defined as a ‘standard position (P1)’.

[0358] The fourth passage hole (2711d) can be positioned between the first passage hole (2711a) and the third passage hole (2711c) based on the longitudinal direction (upper and lower direction based on FIG. 10a) of the sensor plate (2710).

[0359] The position of the moving frame part (2300) relative to the fixed frame part (2100) through which the light irradiated from the light emitting part provided in the sensor body (2730) passes through the first passage hole part (2711a) is a state in which the length of the leg massage part (2000) is shortened to the maximum in the standing state of the massage device (100), and in this specification, the position is defined as the 'standing minimum position (P2)'.

[0360] Among the plurality of axes, a plurality of second passage holes (2711b) are provided along an axis formed between the first passage hole (2711a) and the third passage hole (2711c) along the width direction of the sensor plate (2710), and can be spaced apart at a preset interval along the central axis in the longitudinal direction (upper and lower direction based on FIG. 10a) of the sensor plate (2710).

[0361] Accordingly, when the sensor body (2730) moves on the sensor plate (2710), light irradiated from the light emitting unit can pass through at least one of the plurality of passage holes (2711a, 2711b, 2711c, 2711d) formed along the width direction in a preset section, and the light selectively passed through is transmitted to the light receiving unit, and there is an effect of being able to accurately recognize the change in position of the moving frame unit (2300) moving relative to the fixed frame unit (2100).

[0362] As a plurality of second passage holes (2711b) are spaced apart along the length direction of the sensor plate (2710), the position between the ‘maximum position’ and the ‘standing minimum position’ according to the leg length of the leg massage unit (2000) can be detected.

[0363] That is, in a preset section, when the sensor body (2730) moves on the sensor plate (2710), light emitted from the light emitting portion can be transmitted to the light receiving portion multiple times due to the multiple passage holes (2711b).

[0364] In particular, in the 'standard position', light emitted from multiple light-emitting units provided in the sensor body (2730) can pass through the second passage hole (2711b) and the fourth passage hole (2711d) simultaneously and be transmitted to multiple light-receiving units.

[0365] Referring to FIG. 10b, the fourth passage hole (2711d) may be positioned relatively closer to the first passage hole (2711a) than to the third passage hole (2711c) along the length direction of the sensor plate (2710).

[0366] Referring to FIG. 10b, the first pass-through hole (2711a) and the fourth pass-through hole (2711d) can be arranged on different axes formed along the width direction of the sensor plate (2710), and specifically, the fourth pass-through hole (2711d) can be arranged on the same axis as the third pass-through hole (2711c).

[0367] As a result, when the first passage hole (2711a) and the fourth passage hole (2711d) are formed on the same axis as the 'standing minimum position' and the 'standard position', there is an effect of preventing the sensor body (2730) from confusingly sensing the relative position of the movable frame part (2300) with respect to the fixed frame part (2100).

[0368] The control unit (1200) can measure the relative movement length of the moving frame unit (2300) with respect to the fixed frame unit (2100) by receiving an electrical signal from the light receiving unit as the light irradiated from the light emitting unit passes through a plurality of passage holes (2711a, 2711b, 2711c, 2711d) and is transmitted to the light receiving unit.

[0369] That is, this has the effect of being able to measure the relative movement length according to the relative movement of the movable frame part (2300) and the fixed frame part (2100).

[0370] In addition, there is an effect of being able to accurately recognize changes in leg length of the leg massage unit (2000) by measuring the relative movement length according to the relative movement of the movable frame unit (2300) and the fixed frame unit (2100).

[0371] In addition, since the change in leg length can be accurately recognized, there is an effect of being able to accurately recognize the position of the user's feet accommodated in the leg massage body (2200) coupled to the moving frame part (2300).

[0372] Referring to FIG. 9, a sensor body (2730) according to one embodiment of the present invention irradiates light and can be accommodated inside a sensor cover (2750) to be described later. The sensor body (2730) is positioned on the outside of the sensor plate (2710) and can move on the sensor plate (2710).

[0373] Specifically, as the movable frame part (2300) and the fixed frame part (2100) move relative to each other, the sensor cover (2750) that is fixed in position and coupled to the movable frame part (2300) moves together with the movable frame part (2300), and the sensor cover (2750) accommodated inside the sensor cover (2750) also moves.

[0374] In addition, as the sensor body (2730) moves, it can move on the sensor plate (2710) that is fixed in position to the fixed frame part (2100). The sensor body (2730) can be positioned at a preset distance from the sensor plate (2710).

[0375] This has the effect of reducing friction between the sensor body (2730) and the sensor plate (2710) and preventing damage to the sensor body (2730) and the sensor plate (2710) due to friction.

[0376] However, it is not limited to this, and various modifications are possible, such as the sensor body (2730) and the sensor plate (2710) being in surface contact and being able to move relative to each other.

[0377] Referring to FIG. 9, a sensor body (2730) according to one embodiment of the present invention is accommodated inside a sensor cover (2750) and fixed in position, and a sensor plate (2710) is installed in a fixed frame part (2100) and can be fixed in position.

[0378] Although not shown in the drawing, the sensor body (2730) may include a light emitting unit and a light receiving unit. The light emitting unit irradiates light, and the light receiving unit receives light irradiated from the light emitting unit.

[0379] Referring to Fig. 9, the light emitting unit and the light receiving unit can be arranged to face each other with the sensor plate (2710) disposed inside the sensor body (2730) interposed therebetween. The light emitting unit can be arranged relatively closer to the moving frame unit (2300) than the light receiving unit. However, this is not limited to this, and various modifications are possible, such as the light receiving unit being arranged relatively closer to the moving frame unit (2300) than the light emitting unit.

[0380] A plurality of light-emitting units may be provided, and a plurality of light-receiving units may also be provided corresponding to the plurality of light-emitting units.

[0381] Referring to FIGS. 10a to 10c, the light emitting unit and the light receiving unit according to one embodiment of the present invention are provided in three numbers each corresponding to the passage hole units (2711a, 2711b, 2711c, 2711d) arranged in three rows formed along the width direction of the sensor plate (2710), but this is not limited thereto and various modifications are possible, such as providing four or more.

[0382] As an optional embodiment, a fourth through hole (2711d) may be formed along an axis formed in a separate column.

[0383] As an optional embodiment, only one light emitting unit and one light receiving unit may be provided, and the movement length of the sensor body (2730) moving on the sensor plate (2710) may be measured by sensing that light emitted from the light emitting unit is received by the light receiving unit.

[0384] The light irradiated from the light emitting unit according to one embodiment of the present invention can pass through the passage hole (2711) formed on the sensor plate (2710) and be transmitted to the light receiving unit.

[0385] Whether light emitted from multiple light-emitting units is transmitted to multiple light-receiving units may vary depending on the through hole portion (2711) formed in the sensor plate (2710), and when light is received by the light-receiving unit, information about this is transmitted to the control unit (1200), so that the position of the moving frame unit (2300) can be accurately recognized when the moving frame unit (2300) moves relative to the fixed frame unit (2100).

[0386] In addition, accurately recognizing the position of the moving frame unit (2300) means being able to recognize the position of the leg massage body (2200) coupled to the moving frame unit (2300), and accurately measure the change in the leg length of the user accommodated in the leg massage body (2200).

[0387] Referring to FIG. 8 and FIG. 9, a sensor cover (2750) according to one embodiment of the present invention covers a sensor body (2730) and is movable on a sensor plate (2710).

[0388] The sensor cover (2750) may have a space formed therein to accommodate the sensor body (2730). This has the effect of preventing the sensor body (2730) from being damaged by external foreign substances.

[0389] Referring to FIGS. 8 and 9, the sensor cover (2750) can be positioned and fixed to the length driving unit (2500). Specifically, the sensor cover (2750) can be positioned and fixed to the power transmission unit (2550), specifically, the power transmission housing (2551).

[0390] Accordingly, when the power generated from the length driving unit (2510) is transferred to the power transmission unit (2550) and moves on the lead unit (2530), the power transmission housing (2551) and the movable frame unit (2300) to which the power transmission housing (2551) is coupled can move relative to the fixed frame unit (2100).

[0391] In addition, the sensor cover (2750) fixed in position to the power transmission housing (2551) moves together, and has the effect of accurately measuring the relative movement length of the fixed frame part (2100) and the moving frame part (2300) in a stable manner.

[0392] Referring to FIG. 9, a cover slit (2751) may be formed through the sensor cover (2750) to allow the sensor plate (2710) to pass through.

[0393] Accordingly, the sensor cover (2750) that accommodates the sensor body (2730) is placed on the outside of the sensor plate (2710), and when the movable frame part (2300) moves with respect to the fixed frame part (2100), the sensor body (2730) and the sensor cover (2750) that covers the sensor body (2730) can move along a preset direction (up and down direction based on FIG. 10a) on the sensor plate (2710).

[0394] Referring to FIGS. 8, 9, and 10a, a sensor cover (2750) that accommodates a sensor body (2730) is fixed in position to a power transmission housing (2551) provided in a length driving unit (2500), specifically a power transmission unit (2550), so that it can move together with a moving frame unit (2300) that moves relative to a fixed frame unit (2100), thereby improving the accuracy of relative length measurement.

[0395] As an optional embodiment, the leg massage unit (2000) may include at least one limit sensor in the fixed frame unit (2100). The limit sensor may be a sensor for determining a length adjustment limit of the leg massage unit (2000). Alternatively, the limit sensor may be a sensor for determining a reference position of the leg massage unit (2000). For example, the limit sensor may be a Hall sensor, but is not limited thereto.

[0396] By including a limit sensor, the fixed frame part (2100) and the movable frame part (2300) can be prevented from moving apart beyond a certain limit, thereby preventing safety accidents, and preventing the movable frame part (2300) from being completely separated from the fixed frame part (2100).

[0397] As another embodiment, the leg massage unit (2000) may include an encoder. Accordingly, the relative movement length of the fixed frame unit (2100) and the movable frame unit (2300) may be recognized using the encoder, and accordingly, the leg length adjustment limit of the leg massage unit (2000) may be determined.

[0398] That is, the distance between the fixed frame part (2100) and the movable frame part (2300) can be recognized through the encoder, and when it reaches a certain limit, the relative movement of the fixed frame part (2100) and the movable frame part (2300) can be stopped.

[0399] An encoder may be provided in a length driving unit (2500), specifically, a length driving source unit (2510). The encoder may obtain information about rotational power generated in the length driving source unit (2510) and transmit the information to the control unit (1200).

[0400] The control unit (1200) can receive information about the rotation amount and speed of the length driving unit (2510) from the encoder.

[0401] That is, the rotational power generated from the length driving unit (2510) is transmitted to the power transmission unit (2550), and as the power transmission unit (2550) moves on the lead unit (2530), specifically, the lead shaft (2535), relative movement occurs between the fixed frame unit (2100) and the movable frame unit (2300), and the leg length of the leg massage unit (2000) can be adjusted.

[0402] In this case, the encoder can detect the amount of rotation of the length driving unit (2510), and relative movement can occur between the fixed frame unit (2100) and the moving frame unit (2300) due to the amount of rotation.

[0403] In other words, the change in leg length due to relative movement between the fixed frame part (2100) and the movable frame part (2300) can be finely adjusted by the encoder.

[0404] In addition, the control unit (1200) has the effect of receiving an electrical signal from the encoder and calculating the rotation amount and driving speed of the length driving unit (2510).

[0405] Referring to FIGS. 4 to 7, a hinge drive unit (2800) according to one embodiment of the present invention is rotatably connected to a body frame, and transmits power to a fixed frame unit (2100) to adjust the relative rotation angle of a leg massage unit (2000) with respect to the body frame.

[0406] Referring to FIGS. 5 and 7, the hinge driving unit (2800) may include a hinge driving source unit (2810) and a hinge link unit (2830). The hinge driving source unit (2810) is connected to the frame unit (1100), specifically, the seat frame (1120), and may generate power by receiving power from the outside.

[0407] The hinge drive unit (2810) may include a drive rod (2811), and the length of the drive rod (2811) may be adjusted as power is generated from the hinge drive unit (2810). The drive rod (2811) may transmit power to a hinge link unit (2830) to be described later, thereby causing the hinge link unit (2830) to rotate relative to the seat frame (1120).

[0408] Referring to FIG. 5 and FIG. 7, the hinge link part (2830) may include a hinge link body (2831) that is connected to a driving rod (2811) on one side and rotatably connected to a seat frame (1120) on the other side, and a hinge link roller (2835) that is rotatably connected to an end of the hinge link body (2831) and can come into contact with a fixed frame part (2100).

[0409] As power is generated from the hinge drive unit (2810), the length of the drive rod (2811) is adjusted, the hinge link unit (2830) rotates relative to the seat frame (1120), and the hinge link roller (2835) comes into cloud contact with the rear of the fixed frame unit (2100), so that the relative rotation angle of the leg massage unit (2000), specifically the fixed frame unit (2100), with respect to the frame unit (1100), specifically the seat frame (1120), can be adjusted.

[0410] According to one embodiment of the present invention, the hinge driving unit (2800) is driven by receiving an electric signal from the control unit (1200), and this will be described in detail later.

[0411] Referring to FIGS. 5 to 9 and FIGS. 10a to 10c, a contact roller unit (2900) according to one embodiment of the present invention is rotatably connected to a moving frame unit (2300), and specifically, can be rotatably connected to a second moving frame (2350) to which a foot massage body (2250) is coupled.

[0412] According to one embodiment of the present invention, a plurality of contact roller parts (2900) are provided, and the plurality of contact roller parts (2900) can be arranged on both sides of the leg massage part (2000).

[0413] The contact roller unit (2900) may include a contact roller (2910) and a contact sensor (drawing symbol not set). The contact roller (2910) is rotatable around a preset rotational center axis and can contact the ground.

[0414] The contact sensor is capable of recognizing contact between the contact roller unit (2900) and the ground, and can detect that the contact roller unit (2900), specifically the contact roller (2910), is in contact with the ground, or measure the pressure applied to the contact roller (2910).

[0415] The contact sensor is installed on the contact roller (2910) and may be positioned inside the contact roller (2910). However, it is not limited thereto, and various modifications are possible, such as being positioned outside the contact roller (2910) within the technical concept of detecting contact between the contact roller (2910) and the ground.

[0416] The contact sensor is electrically connected to the control unit (1200) and can transmit information about whether the contact roller unit (2900), specifically the contact roller (2910), is in contact with the ground and the pressure applied to the contact roller (2910) due to contact with the ground as an electrical signal.

[0417] The operating principle and effect of the massage device (100) according to one embodiment of the present invention as described above will be described.

[0418] Referring to FIGS. 1 to 5, a massage device (100) according to one embodiment of the present invention may include a body massage unit (1000), a leg massage unit (2000), and an arm massage unit (3000). The body massage unit (1000) may include a frame unit (1100), a control unit (1200), and a tilting drive unit (1900).

[0419] The tilting drive unit (1900) is driven by receiving an electrical signal from the control unit (1200), and as the tilting drive unit (1900) is driven, the tilting frame (1150) coupled to the frame unit (1100) can rotate relative to the base frame (1130), specifically, the base upper frame (1131).

[0420] Referring to FIG. 5 and FIG. 7, the 'basic state (or basic mode)' in which no power is generated from the tilting drive unit (1900) is illustrated, and in the basic state, a massage can be provided to at least a part of the body of a user seated on the massage device (100).

[0421] Referring to FIG. 11 and FIG. 12, a 'standing state (or standing mode)' is illustrated in which power is generated from the tilting drive unit (1900), allowing a user to easily sit on the massage device (100), or allowing a user who has finished using the massage device (100) to easily stand up.

[0422] Referring to FIGS. 5, 7, and 11, when power is generated from the tilting drive unit (1900), specifically, the tilting drive source (1910), the length of the tilting rod (1950) can be adjusted. As the length of the tilting rod (1950) increases, the rear side of the tilting frame (1150) connected to the tilting rod (1950) moves upward, and accordingly, the front side of the tilting frame (1150) rotatably connected to the base frame (1130), specifically, the base upper frame (1131), rotates counterclockwise (based on FIG. 11) about the rotation center axis.

[0423] Accordingly, the tilting frame (1150) and the body frame coupled to the tilting frame (1150), specifically the seat frame (1120) and the back frame (1110), rotate relative to the base frame (1130).

[0424] This causes the seat frame (1120) and back frame (1110) to tilt forward (from right to left in Fig. 11).

[0425] Referring to FIG. 7 and FIG. 11, the tilting drive source (1910) that generates power is positioned relatively lower, and the tilting rod (1950) whose length is adjusted is positioned relatively higher than the tilting drive source (1910), thereby minimizing the load applied to the tilting drive unit (1900) when switching from the basic state to the standing state, and there is an effect of being able to rotate the tilting frame (1150) relative to the base frame (1130).

[0426] The control unit (1200) is electrically connected to the tilting drive unit (1900) and the length drive unit (2500), and as the tilting drive unit (1900) is driven, the drive of the length drive unit (2500) is controlled to adjust the length of the leg massage unit (2000).

[0427] Specifically, the control unit (1200) can control the operation of the hinge drive unit (2800) simultaneously or sequentially while controlling the operation of the length drive unit (2500).

[0428] The control unit (1200) can control the operation of the length driving unit (2500) and the hinge driving unit (2800) so that the leg massage unit (2000), specifically the contact roller unit (2900), remains in contact with the ground when switching between the basic state and the standing state.

[0429] The control unit (1200) receives information about whether the contact roller (2900), specifically, the contact roller (2910) is in contact with the ground and the pressure thereof from the contact roller unit (2900), and controls the operation of the length driving unit (2500) to maintain the contact roller (2910) in contact with the ground, thereby adjusting the length of the leg massage unit (2000), or controls the operation of the hinge driving unit (2800) to adjust the angle of the leg massage unit (2000) with respect to the body massage unit (1000).

[0430] Below, the process of transitioning between the 'basic state' and the 'standing state' will be described. First, the process of transitioning from the basic state (see Fig. 7) to the standing state (see Fig. 12) will be described.

[0431] In the tilting stage, the control unit (1200) can drive the tilting drive unit (1900). Specifically, the tilting drive source (1910) can receive an electrical signal from the control unit (1200) and transmit power to the tilting rod (1950).

[0432] Referring to FIG. 7 and FIG. 11, as the length of the tilting rod (1950) is adjusted and increased, the tilting frame (1150) can rotate relative to the base frame (1130).

[0433] Specifically, since one end (the upper end as shown in FIG. 11) of the tilting rod (1950) is rotatably connected to the rear side area of ​​the tilting frame (1150), the tilting frame (1150) can rotate relative to the base frame (1130) about a rotational center axis formed on the front side of the tilting frame (1150).

[0434] In the step of adjusting the leg length of the leg massage unit, the length of the leg massage unit (2000) can be adjusted simultaneously or sequentially as the tilting frame (1150) rotates relative to the base frame (1130) through the tilting step.

[0435] Referring to Fig. 11, compared to the basic state illustrated in Fig. 7, the position of the rotation center axis (AX1) of the leg massage unit (2000) relative to the body massage unit (1000) moves forward (left based on Fig. 11) and downward (based on Fig. 11).

[0436] At this time, the control unit (1200) can transmit an electrical signal to the leg massage unit (2000), specifically, the length driving unit (2500), to reduce the leg length of the leg massage unit (2000).

[0437] Referring to FIGS. 10A to 10C, the process of adjusting the leg length of the leg massage unit (2000) is illustrated. FIG. 10A is a drawing illustrating a basic state (see FIG. 7) in which the length driving unit (2500) is not driven.

[0438] Referring to FIG. 10c, this is a drawing showing a state in which the movable frame part (2300) moves upward with respect to the fixed frame part (2100) and the leg length decreases.

[0439] That is, this is a drawing showing a state in which the moving frame part (2300) moves in a direction closer to the rotation center axis (AX1) of the leg massage part (2000) with respect to the body frame, specifically, the seat frame (1120).

[0440] When the control unit (1200) transmits an electrical signal to the length driving unit (2500), specifically, the length driving source unit (2510), rotational power is generated in the length driving source unit (2510). The power generated in the length driving source unit (2510) can be transmitted to the power transmission unit (2550).

[0441] Referring to FIG. 9, the power generated in the length driving unit (2510) is transmitted to the moving unit (2556) through the pulley unit (2557), and the moving unit (2556) moves linearly along a preset direction (up and down direction based on FIG. 9) on the lead unit (2530).

[0442] The lead part (2530) is positionally fixed to the fixed frame part (2100), and the length driving part (2500), specifically the power transmission part (2550), can be positionally fixed to the movable frame part (2300). As a result, the movable frame part (2300) can move relative to the fixed frame part (2100), and the leg length can be adjusted.

[0443] Referring to FIG. 9, the power transmission housing (2551) is connected to the longitudinal driving source and accommodates a pulley unit (2557) and a moving unit (2556), and is fixed in position to the moving frame unit (2300), so that the power generated from the longitudinal driving unit (2500) can be directly transmitted to the moving frame unit (2300), and there is an effect that the moving frame unit (2300) can stably move relative to the fixed frame unit (2100).

[0444] Referring to FIG. 10c, as the length driving unit (2500) is driven by receiving an electric signal from the control unit (1200) from the 'standard position' in FIG. 7, the light irradiated from the light emitting unit provided in the sensor body (2730) can move toward the 'standing minimum position', which is the position of the moving frame unit (2300) with respect to the fixed frame unit (2100) passing through the first passage hole unit (2711a), and can reach the 'standing minimum position' in the 'standing state' as in FIG. 12.

[0445] Referring to FIGS. 10A to 10C, since the lead part (2530) is coupled to the fixed frame part (2100), the movable frame part (2300) moves relative to the fixed frame part (2100), and even if the upper part (based on FIG. 10C) of the movable frame part (2300) passes the rotation center axis (AX1), the lead part (2530) can be prevented from being exposed to the outside of the leg massage part (2000), and there is an effect of preventing a safety accident that may occur when the lead part (2530) is exposed to the outside.

[0446] FIG. 11 illustrates a state in which the leg length of the leg massage unit (2000) is adjusted during the process of moving to a standing state, and FIG. 12 illustrates a state in which the length of the tilting drive unit (1900), specifically the tilting rod (1950) in FIG. 11, is further increased, and the tilting frame (1150) in FIG. 11 is rotated at a relatively larger angle (θ2) than the rotation angle (θ1) with respect to the base frame (1130).

[0447] During the step of adjusting the leg length, contact between the contact roller unit (2900) and the ground can be detected. In the step of detecting contact between the contact roller unit (2900) and the ground, the control unit (1200) can receive an electrical signal from the contact roller unit (2900), specifically, from the contact sensor, information about whether the contact roller (2910) is in contact with the ground and the pressure applied to the contact roller (2910) due to the contact with the ground.

[0448] The control unit (1200) can adjust the speed at which the length of the leg massage unit (2000) is adjusted from the standard position to the standing minimum position based on whether the contact roller unit (2900) is in contact with the ground.

[0449] The control unit (1200) can receive information about the length of the leg massage unit (2000), specifically, the relative movement length between the fixed frame unit (2100) and the moving frame unit (2300), and the driving speed of the length driving unit (2500), from the length detection unit (2700) in the step of adjusting the length of the leg massage unit (2000).

[0450] In addition, the control unit (1200) can receive information from the contact sensor about whether the contact roller unit (2900), specifically the contact roller (2910) provided in the leg massage unit (2000), maintains contact with the ground.

[0451] That is, in the step of adjusting the leg length, the control unit (1200) can control the operation of the length driving unit (2500) so that the length of the leg massage unit (2000) is gradually shortened so that the contact roller (2910) maintains contact with the ground by transmitting an electric signal to the length driving unit (2500).

[0452] Specifically, the control unit (1200) can control the operation of the length driving unit (2500) so that the pressure applied to the contact roller unit (2900) by contact between the contact roller (2910) and the ground can have a pressure value within a preset range in the step of adjusting the leg length of the leg massage unit when switching from the basic state to the standing state.

[0453] In the step of adjusting the leg length, the control unit (1200) receives information from the length detection unit (2700) about whether the leg massage unit (2000) has reached the minimum standing position, which is the state where the length is shortened to the maximum, and can stop the operation of the length driving unit (2500) when the position of the moving frame unit (2300) with respect to the fixed frame unit (2100) is the minimum standing position.

[0454] In the step of adjusting the leg angle of the leg massage unit (2000), the relative angle of the leg massage unit (2000) with respect to the frame unit (1100), specifically the seat frame (1120), can be adjusted.

[0455] The control unit (1200) can adjust the leg angle by simultaneously or sequentially transmitting an electric signal to the hinge driving unit (2800), specifically, the hinge driving source unit (2810), at the step of adjusting the leg length of the leg massage unit (2000) by transmitting an electric signal to the length driving unit (2500).

[0456] Referring to FIG. 12, as the hinge driving unit (2800) is driven, the length of the driving rod (2811) can be adjusted and increased due to the power generated from the hinge driving unit (2810).

[0457] At this time, the hinge link part (2830), specifically the hinge link body (2831), is rotated forward relative to the seat frame (1120), and the rotation angle of the leg massage part (2000), specifically the fixed frame part (2100), with respect to the frame part (1100), specifically the seat frame (1120) can be increased.

[0458] Referring to FIG. 7 and FIG. 12, as the tilting frame (1150) rotates relative to the base frame (1130), the position of the relative rotation center axis (AX1) between the seat frame (1120) and the leg massage unit (2000) coupled to the tilting frame (1150) can be changed.

[0459] In the step of adjusting the leg angle, since the hinge drive unit (2800) is driven by receiving an electric signal from the control unit (1200), even if the position of the relative rotation center axis (AX1) between the seat frame (1120) and the leg massage unit (2000) changes, there is an effect of being able to adjust the leg angle together with adjusting the length of the leg massage unit (2000) so that the angle formed by the leg massage unit (2000) and the ground can be maintained constant.

[0460] Referring to FIGS. 11 and 12, as the rotation angle of the tilting frame (1150) with respect to the base frame (1130) increases, the control unit (1200) transmits an electrical signal to the hinge drive unit (2800) to increase the rotation angle of the leg massage unit (2000) with respect to the seat frame (1120).

[0461] However, it is not limited to this, and various modifications are possible, such as reducing the rotation angle of the leg massage part (2000), specifically the fixed frame part (2100), with respect to the seat frame (1120) within the technical concept of maintaining the contact roller part (2900) provided in the leg massage part (2000) in contact with the ground, while the control part (1200) simultaneously or sequentially transmits an electric signal to the length driving part (2500) to reduce the length of the leg massage part (2000).

[0462] Next, the process of transitioning from the standing state (see Fig. 12) to the basic state (see Fig. 7) will be described.

[0463] In the tilting stage, the control unit (1200) can drive the tilting drive unit (1900). Specifically, the tilting drive source (1910) can receive an electrical signal from the control unit (1200) and transmit power to the tilting rod (1950).

[0464] Referring to FIGS. 11 and 12, in a standing state (see FIG. 12), the length of the tilting rod (1950) is adjusted and reduced, so that the tilting frame (1150) can rotate relative to the base frame (1130) in a direction in which it is lying down (clockwise with respect to FIG. 11).

[0465] Specifically, since one end (the upper end as shown in FIG. 11) of the tilting rod (1950) is rotatably connected to the rear side area of ​​the tilting frame (1150), the tilting frame (1150) can rotate relative to the base frame (1130) in a direction in which it lies (clockwise as shown in FIG. 11) with respect to the rotational center axis formed on the front side of the tilting frame (1150).

[0466] In the step of adjusting the leg length of the leg massage unit, the length of the leg massage unit (2000) can be adjusted simultaneously or sequentially as the tilting frame (1150) rotates relative to the base frame (1130) through the tilting step.

[0467] Referring to Fig. 11, compared to the standing state illustrated in Fig. 12, the position of the rotation center axis (AX1) of the leg massage unit (2000) relative to the body massage unit (1000) moves toward the rear (right side based on Fig. 11) and upward (based on Fig. 11).

[0468] At this time, the control unit (1200) can transmit an electrical signal to the leg massage unit (2000), specifically, the length driving unit (2500), to increase the leg length of the leg massage unit (2000).

[0469] Specifically, the control unit (1200) can control the operation of the length driving unit (2500) so that the position of the movable frame unit (2300) with respect to the fixed frame unit (2100) reaches the 'standard position', which is the leg length of the leg massage unit (2000), in the basic state in which the user receives the massage function rather than the standing state of the massage device (100), thereby adjusting the leg length of the leg massage unit (2000).

[0470] FIG. 10c illustrates a state in which the 'standing minimum position' is reached. As the length driving unit (2500) is driven by receiving an electric signal from the control unit (1200) from the 'standing minimum position', the light irradiated from the light emitting unit provided in the sensor body (2730) can move toward the 'standard position', which is the position of the moving frame unit (2300) with respect to the fixed frame unit (2100) passing through the fourth passage hole unit (2711d), and can reach the 'basic state' as shown in FIG. 7.

[0471] Even when switching from a standing state to a basic state, contact between the contact roller unit (2900) and the ground can be detected during the leg length adjustment step. In the step of detecting contact between the contact roller unit (2900) and the ground, the control unit (1200) can receive an electrical signal from the contact roller unit (2900), specifically, from a contact sensor, information about whether the contact roller (2910) is in contact with the ground and the pressure applied to the contact roller (2910) due to the contact with the ground.

[0472] The control unit (1200) can adjust the speed at which the length of the leg massage unit (2000) is adjusted from the minimum standing position to the standard position based on whether the contact roller unit (2900) is in contact with the ground.

[0473] The control unit (1200) can receive information about the length of the leg massage unit (2000), specifically, the relative movement length between the fixed frame unit (2100) and the moving frame unit (2300), and the driving speed of the length driving unit (2500), from the length detection unit (2700) in the step of adjusting the length of the leg massage unit (2000).

[0474] In addition, the control unit (1200) can receive information from the contact sensor about whether the contact roller unit (2900), specifically the contact roller (2910) provided in the leg massage unit (2000), maintains contact with the ground.

[0475] That is, in the step of adjusting the leg length, the control unit (1200) can control the operation of the length driving unit (2500) so that the length of the leg massage unit (2000) gradually increases so that the contact roller (2910) maintains contact with the ground by transmitting an electric signal to the length driving unit (2500).

[0476] Specifically, the control unit (1200) can control the operation of the length driving unit (2500) so that the pressure applied to the contact roller unit (2900) by contact between the contact roller (2910) and the ground can have a pressure value within a preset range in the step of adjusting the leg length of the leg massage unit when switching from a standing state to a basic state.

[0477] In the step of adjusting the leg length, the control unit (1200) receives information from the length detection unit (2700) about whether the length of the leg massage unit (2000) has reached the standard position in the basic state shown in FIG. 7, and can stop the operation of the length driving unit (2500) when the position of the moving frame unit (2300) with respect to the fixed frame unit (2100) is the standard position.

[0478] In the step of adjusting the leg angle of the leg massage unit (2000), the relative angle of the leg massage unit (2000) with respect to the frame unit (1100), specifically the seat frame (1120), can be adjusted.

[0479] The control unit (1200) can adjust the leg angle by simultaneously or sequentially transmitting an electric signal to the hinge driving unit (2800), specifically, the hinge driving source unit (2810), at the step of adjusting the leg length of the leg massage unit (2000) by transmitting an electric signal to the length driving unit (2500).

[0480] Referring to FIG. 12, as the hinge drive unit (2800) is driven, the length of the drive rod (2811) can be adjusted and reduced due to the power generated from the hinge drive unit (2810).

[0481] At this time, the hinge link part (2830), specifically the hinge link body (2831), is rotated rearward relative to the seat frame (1120), and the rotation angle of the leg massage part (2000), specifically the fixed frame part (2100), with respect to the frame part (1100), specifically the seat frame (1120) can be reduced.

[0482] Referring to FIG. 7 and FIG. 12, as the tilting frame (1150) rotates relative to the base frame (1130), the position of the relative rotation center axis (AX1) between the seat frame (1120) and the leg massage unit (2000) coupled to the tilting frame (1150) can be changed.

[0483] In the step of adjusting the leg angle, since the hinge drive unit (2800) is driven by receiving an electric signal from the control unit (1200), even if the position of the relative rotation center axis (AX1) between the seat frame (1120) and the leg massage unit (2000) changes, there is an effect of being able to adjust the leg angle together with adjusting the length of the leg massage unit (2000) so that the angle formed by the leg massage unit (2000) and the ground can be maintained constant.

[0484] Referring to FIGS. 11 and 12, as the rotation angle of the tilting frame (1150) with respect to the base frame (1130) decreases, the control unit (1200) can transmit an electrical signal to the hinge driving unit (2800) to decrease the rotation angle of the leg massage unit (2000) with respect to the seat frame (1120). Accordingly, as illustrated in FIG. 7, the massage device can be switched from a standing state (see FIG. 12) to a basic state.

[0485] A control unit (1200) according to one embodiment of the present invention receives information about pressure applied to a contact roller (2910) due to contact with the ground from a contact roller unit (2900), specifically a contact sensor, and controls the operation of a hinge drive unit (2800) and a length drive unit (2500) so that the pressure has a preset range.

[0486] As a result, the leg massage part (2000) has a pressure within a preset range when in contact with the ground, thereby preventing excessive load from being applied to the leg massage part (2000) due to contact with the ground when switching between the basic state and the standing state.

[0487] The control unit (1200) receives information from the contact sensor about whether the contact roller (2910) is in contact with the ground, and can control the operation of the length driving unit (2500) and the hinge driving unit (2800) so that the contact roller (2910) can contact the ground and have a preset pressure.

[0488] Due to this, the leg massage unit (2000), specifically the contact roller (2910) provided in the contact roller unit (2900), can be maintained in contact with the ground in a standing state in which the tilting frame (1150) rotates forward relative to the base frame (1130).

[0489] In addition, since the leg massage part (2000) is maintained in contact with the ground, the user can sit stably to receive a massage in the standing state of the massage device (100), and even when the user wants to stand up from the massage device (100) after receiving the entire massage, there is an effect of applying a load to the leg massage part (2000) in contact with the ground to enable the user to stand up stably.

[0490]

[0491] Hereinafter, with reference to FIGS. 13 to 23, the specific configuration, processing, function, etc. of a massage device (200) according to an embodiment (hereinafter referred to as the “second embodiment”) that provides a standing motion (standing mode), etc. will be described in detail.

[0492] It goes without saying that the massage device (200) described below can be applied in combination or selectively with one or more of the components included in the aforementioned massage device (100).

[0493] In addition, some of the terms and / or reference symbols referring to the massage device (200) and its sub-components according to the second embodiment described below may be different from the terms and / or reference symbols of the massage device, etc. according to the above-described embodiment.

[0494] This is due to the necessity of tools for effectively explaining the embodiment, etc., and if the corresponding technical idea can be implemented at the level of a person skilled in the art, it should be interpreted that one or more of the configurations of the embodiment described below may be the same as or equivalent to one or more of the configurations described above.

[0495] For example, the leg massage unit (230) and the body massage unit (210) described in the second embodiment below correspond to the configuration corresponding to the leg massage unit (2000) and the body massage unit (1000) described in the above-described embodiment, respectively, and the control unit (270) of the second embodiment corresponds to the configuration corresponding to the control unit (1200) of the above-described embodiment.

[0496] In addition, in the second embodiment, the leg actuating unit (240) that can adjust the position of the leg massage unit (230) through angle and / or length adjustment, etc. and include a length adjusting unit (241) or / and an angle adjusting unit (243) can correspond to the length actuating unit (2500) or / and the hinge actuating unit (2800) of the aforementioned embodiment. In the second embodiment, the body actuating unit (220) that changes the angle, posture, position, etc. of the body massage unit (210) can correspond to the sliding actuator, the equal angle actuator, or / and the tilting actuating unit (1900) of the aforementioned embodiment.

[0497] As previously discussed, the leg massage unit (230) may be composed of a pair of leg massage units (230A, 230B), and therefore the leg driving unit for adjusting the length and / or angle of the leg massage unit may also be composed of a pair of leg driving units (240A, 240B).

[0498] The first leg driving unit (240A), specifically the first length adjusting unit (241A), is connected to the first leg massage unit (230A) to adjust the length of the first leg massage unit (230A). For example, the first leg driving unit (240A) may be arranged between one end and the other end of the first leg massage unit (230A) to connect the one end and the other end of the first leg massage unit (230A). The first leg driving unit (240A) provides a length adjusting driving force to the first leg massage unit (230A) to adjust the length between the one end and the other end of the first leg massage unit (230A), thereby adjusting the length of the first leg massage unit (230A). The second leg driving unit (240B) is also the same.

[0499] The first leg driving unit (240A), specifically the first angle adjusting unit (243A), is connected to the first leg massage unit (230A) and can adjust the angle of the first leg massage unit (230A). For example, the first leg driving unit (240A) can be arranged between the rear of the first leg massage unit (230A) and the body massage unit (210) to connect the first leg massage unit (230A) and the body massage unit (210). The first leg driving unit (240A) can adjust the angle of the first leg massage unit (230A) by pushing or pulling the first leg massage unit (230A) from the rear to rotate (or tilt) the first leg massage unit (230A) clockwise and / or counterclockwise.

[0500] As described above, the first leg driving unit (240A) is positioned between the rear of the first leg massage unit (230A) and the body massage unit (210) to connect the first leg massage unit (230A) and the body massage unit (210), but is not limited thereto.

[0501] For example, the first leg driving unit (240A) may be positioned at various locations (e.g., the side of the first leg massage unit (230A), the rotation hinge axis of the first leg massage unit (230A), the rear of the first leg massage unit (230A), etc.) that can rotate the first leg massage unit (230A) clockwise and / or counterclockwise. It goes without saying that the above-described contents of the first leg driving unit (240A) may be equally applied to the second leg driving unit (240B).

[0502] It is self-evident that terms such as upper, lower, front, rear, vertical, horizontal, etc. used in the following description are only intended to present relative standards for describing embodiments of the present invention, and are not intended to specify any direction or position in absolute terms, and may of course vary relatively depending on the position of the target object, the position or direction of view, etc.

[0503] Hereinafter, embodiments of the present invention will be described with the Z-axis direction (see FIGS. 22 and 23) as the reference direction of up-down or vertical, the X-axis direction as the reference direction of front-back, and the Y-axis direction as the reference direction of left or right. For example, a positive Z-axis direction corresponds to an upward, upward, upward, or corresponding direction, and a negative Z-axis direction corresponds to a downward, downward, downward, or corresponding direction.

[0504]

[0505] FIG. 13 and FIG. 14 are block diagrams showing a detailed configuration of a massage device (200) according to one embodiment of the present invention, FIG. 15 is a flowchart explaining the overall processing process of the present invention, and FIG. 16 is a flowchart explaining one embodiment of the present invention based on an operating subject.

[0506] As illustrated in FIG. 13, the massage device (200) of the present invention may include one or more of a body massage unit (210), a body driving unit (220), a leg massage unit (230), a leg driving unit (240), a detection sensor (250), and a control unit (270).

[0507] FIGS. 13 and 14 are block diagrams of a massage device (200) for mainly explaining a second embodiment of the present invention. Therefore, it goes without saying that the massage device (200) of the present invention may additionally include other configurations described in the aforementioned embodiments in addition to the configurations illustrated in FIGS. 13 and 14, depending on the embodiment.

[0508] The components of the massage device (200) illustrated in FIG. 13 may be physically distinct components, but may also be functionally or logically distinct components.

[0509] That is, since each component illustrated in the above drawing corresponds to a component for effectively explaining the technical idea of ​​the present invention, even if each component is configured integrated or separated, if the function performed by the configuration of the present invention can be realized, it should be interpreted as being within the scope of the present invention, and of course, if it is a component that performs the same or similar function, it should be interpreted as being within the scope of the present invention regardless of whether or not the name is consistent.

[0510] In addition, the control method of the massage device according to the present invention can be implemented as a set or algorithm of processing related to data processing, handling, control, calculation, input / output, etc., and thus can be implemented in the form of software that is installed and operated in a device, computer (or a device equivalent thereto), module, or sub-component thereof.

[0511] The leg massage unit (230), which is a component of the massage device (200) according to the present invention, may be placed below the body massage unit (210) that massages at least a portion of the user's body. Depending on the embodiment, the leg massage unit (230) may include first and second leg massage units (230A, 230B) that can move relative to each other, and the first leg massage unit (230A) may be placed basically parallel to the second leg massage unit (230B) so as to conform to the human body structure.

[0512] The first arm massage unit, which is a component of the massage device (200) according to the present invention, may be placed on the side of the body massage unit (210) and is placed at a position corresponding to the first leg massage unit (230A). The first arm massage unit may be configured to receive the user's arm (left arm or right arm) and perform various types and methods of massage movements on the received arm.

[0513] The second arm massage section is positioned on the side of the body massage section (210), specifically, on the opposite side of the first arm massage section, so as to conform to the human body structure, and is positioned corresponding to the second leg massage section (230B).

[0514] If the first arm massage part and the first leg massage part (230A) are configured to massage the user's left arm and left leg areas, respectively, the second arm massage part and the second leg massage part (230B) may be configured to massage the user's right arm and right leg areas, respectively.

[0515] The first leg driving unit (240A) of the present invention may be configured to perform a function of rotating or moving the first leg massage unit (230A) in two or more directions or expanding and contracting the first leg massage unit (230A) according to an internal algorithm that determines whether a user input signal, a preset condition is satisfied, or the specifications, functions, etc. of the first leg massage unit (230A).

[0516] In other words, the first leg massage unit (230A) can rotate in two or more directions and move in two or more directions through the first leg driving unit (240A).

[0517] For example, the angle of the first leg massage unit (230A) can be adjusted by rotating (or tilting) the massage device (200) in an upward direction (or forward direction, clockwise) and / or downward direction (or backward direction, counterclockwise) through the first leg driving unit (240A).

[0518] In addition, the length of the first leg massage part (230A) can be adjusted by moving in the upper direction (or one end direction) and / or the lower direction (or the other end direction) of the first leg massage part (230A) through the first leg driving part (240A).

[0519] Since the second leg drive unit (240B) can correspond to the first leg drive unit (240A) in terms of function, operation, control, etc., the above-described contents regarding the first leg drive unit (240A) can also be applied to the second leg drive unit (240B).

[0520] The first and second leg massage units (230A, 230B) of this embodiment can correspond in detailed configuration to the leg massage units (2000A, 2000B) of the aforementioned embodiment, so that detailed information about their structure, operation, control, etc. is replaced with the description described above. The first and second leg driving units (240A, 240B) of this embodiment are also similar to this.

[0521] The body driving unit (220) of the present invention can be configured to adjust or change the position, posture, or angle of the body massage unit (210) according to a user input signal, an internal algorithm that determines whether a preset condition is met, or the specifications, functions, etc. of the body massage unit (210), and can slide the body massage unit (210) forward or backward. It goes without saying that the body driving unit (220) of the present invention can be designed to be controlled by the control unit (270) of the present invention.

[0522] The body driving unit (220) may include a seat driving unit (220A) and / or a backrest driving unit (220B). The seat driving unit (220A) and the backrest driving unit (220B) may be configured to change the angle, position, posture, etc. of each of the seat unit (210A) and the backrest unit (210B), which are components of the body massage unit (210), through operation of an algorithm according to a user input signal or a massage mode.

[0523] The control unit (270) of the present invention can control the body drive unit (220) so that the body massage unit (210) performs a forward standing motion (hereinafter referred to as a 'standing motion').

[0524] When the standing movement is performed, the position, posture, angle, etc. of the body massage part (210), specifically the seat part (210A) or / and the backrest part (210B), are changed to facilitate the user's departure from the massage device (200), so that the ease and safety of the process of the user leaving (moving off) the massage device (200) can be improved.

[0525] The control unit (270) of the present invention controls the body drive unit (220) so that the body massage unit (210) stands up forward when the standing motion is initiated (S100, see FIG. 15), and can control the leg drive unit (240) so that the standing motion of the body massage unit (210) and the position adjustment of the leg massage unit (230) are linked (S130).

[0526] The standing motion can be configured to be initiated (S100) in various ways, such as when an ongoing massage ends, when a selection signal is input from the user, or when a predetermined condition is met.

[0527] The standing motion or standing mode described in the present invention is a motion (mode) or a motion (mode) similar thereto in which the posture, position, etc. of the body massage unit (210) is controlled so that the body massage unit (210) tilts forward or tilts while the body massage unit (210) rises, and corresponds to a unique motion (mode) of the present invention for improving the ease, convenience, safety, stability, etc. of the motion of the user getting out of the massage device (200).

[0528] As illustrated in FIG. 16, the control unit (270) of the present invention can be configured to generate control signals (first and second control signals) for driving the body massage unit (210) and the leg massage unit (230) respectively when the standing mode is initiated (S210) and to output the generated first and second control signals to the body driving unit (220) and the leg driving unit (240) (S230A, S230B).

[0529] When a first control signal is input from the control unit (270) (S230A), the body driving unit (220) of the present invention drives the body massage unit (210) so that the body massage unit (210) stands forward based on the first control signal (S240A).

[0530] When a second control signal is input from the control unit (270) (S230B), the leg driving unit (240) of the present invention adjusts the length of the leg massage unit (230) or / and the angle of the leg massage unit (230) so that the position of the leg massage unit (230) is adjusted (S240B).

[0531] In a specific embodiment, the body driving unit (220) may be implemented as a hardware board (body driving board) that may be composed of electronic, electrical, and mechanical components or elements for signal (control signal, etc.) interfacing and driving operation of the body massage unit (210).

[0532] The above leg drive unit (240) may also be implemented as a hardware board (leg drive board) that may be composed of elements, components, etc. for signal interfacing and driving operation of the leg massage unit (230), and depending on the embodiment, the board (leg drive board) may be implemented as individual boards (first and second leg drive boards) for driving each of the first and second leg massage units (230A, 230B). From a corresponding viewpoint, it goes without saying that the control unit (270) of the present invention may also be implemented as a hardware board (main board).

[0533] When the body massage unit (210) is in a standing posture by driving the standing motion, the angle at which the body massage unit (210) is tilted forward (hereinafter referred to as the 'standing angle') can be set in various ways depending on the physical specifications of the massage device (200) or individual components or the user's choice, but it may be preferable to set it to an angle that can sufficiently assist the user in standing up or standing up, for example, 60 to 85 degrees with respect to the ground, rather than the user's body being excessively tilted forward.

[0534] It is preferable that the speed, range (distance), etc. of the body massage unit (210) standing up (moving) forward be automatically set using the physical specifications of the massage device (200), user information that can be stored in a database, measured body information of the user, etc., or be variably set by a method such as selection by the user using an interface means, etc. The rotation speed, rotation direction, rotation range (angle), movement speed, movement direction, movement distance, etc. of the leg massage unit (230A, 203B) are also the same.

[0535] Since the available range of the body or the location / angle of pain may vary depending on the user's characteristics, symptoms, and injured area, if the range of movement and rotation are adjusted according to the user's choice, it can have a higher user orientation.

[0536] Here, user information may be various pieces of information that can be stored in a database, such as one or more pieces of information about the user's age, gender, age, symptoms, or injured area. Furthermore, the user's body information may be information stored in a database in advance, or may be information about the user's body size measured by a measuring device equipped in the massage device (200).

[0537] According to the embodiment, an input button or the like that can select multiple distances or / and angle ranges through a GUI environment is provided in the input unit (1400, based on the above-described embodiment), and the movement distance or / and rotation angle range can be variably set in a manner in which the user selects using this. In addition, a method in which multiple selectable ranges are guided through an audio output module (1500) and the ranges are selected through voice recognition, etc., can also be applied.

[0538] In this way, when the body massage part (210) moves (rotates, tilts, etc.) to stand forward so that the body massage part (210) becomes in a standing posture, the leg massage part (230) connected to the body massage part (210) through a frame structure, etc., can also move (rotate, tilt, etc.) together.

[0539] Therefore, although there are differences depending on the type of massage being performed, the current length of the leg massage part (230), the current angle, etc., if the body massage part (210) rotates by a standing motion in a state where sufficient space is not secured between the leg massage part (230) and the ground, the leg massage part (230) may collide with or interfere with the ground (see “△H” in FIG. 22).

[0540] For reference, the configuration indicated by reference numeral 1110 in FIG. 22 is the back frame of the aforementioned embodiment, and corresponds to the backrest portion (210B) of this embodiment, and the configuration indicated by reference numeral 1120 is the seat frame of the aforementioned embodiment, and corresponds to the seat portion (210A) of this embodiment.

[0541] In this way, if an event such as the leg massage unit (230) colliding with the ground occurs, the massage device (200) may not be able to maintain a stable posture, such as overturning or tilting backwards, which may cause a safety accident for the user riding the massage device (200), and damage or breakage of the massage device (200) itself may occur. In addition, if the user leaves the seat while the massage device (200) is tilted, major and minor safety issues such as falling may occur.

[0542] To effectively resolve this phenomenon, the control unit (270) of the present invention controls the leg drive unit (240) so that the position of the leg massage unit (230) is adjusted in conjunction with the standing motion in which the body massage unit (210) stands up forward when a standing motion is performed (S240B). A specific embodiment thereof will be described later.

[0543] In order to more effectively implement the user's ease of departure, the control unit (270) of the present invention can control the body drive unit (220), specifically the seat drive unit (220A), which is a component of the body drive unit (220), so that the seat unit (210A) is tilted downward toward the ground, as illustrated in FIG. 23.

[0544] The angle of the seat part (210A) by the standing motion can be adjusted in various ways depending on the physical shape of the seat part, the frame that physically supports the seat part, the connection structure with other components, etc., but it may be desirable to set it to be tilted more toward the ground than the angle of the seat part when the massage device (200) is in the basic posture.

[0545] According to an embodiment, the control unit (270) of the present invention can perform processing (S110) to check whether the angle, position, posture, etc. of one or more of the current massage device (200), leg massage unit (230), and body massage unit (210) is a default posture.

[0546] If the current posture of the massage device (200) or the like is not the basic posture, the control unit (270) of the present invention can control the body drive unit (220), the leg drive unit (240), etc. so that the postures (position, angle, etc.) of the massage device (200), the body massage unit (210), and the leg massage unit (230) are converted to the basic posture (S120).

[0547] In this way, when the standard posture restoration operation (S120) is performed prior to the standing operation (S130), the operation relationship of the massage device (200) can be made clearer, and user predictability, operation stability, etc. can be further improved.

[0548] The control unit (270) of the present invention can control the output of guidance information (comment, auditory sound effect, visual information, etc.) regarding the completion of standing (S150) when the standing motion is completed by driving a predetermined algorithm (S140) so as to improve user convenience, such as by interfacing the user with the fact that the current state of the massage device (200) is a detachable state.

[0549] As described in the above-described embodiment, when it is confirmed that the user has left the massage device (200) through detection by the sensor unit (1800) or the like (S160), the control unit (270) of the present invention can control the body drive unit (220) or the like so that the posture of the massage device (200) is changed from the standing posture to the basic posture (S170).

[0550]

[0551] Fig. 17 is a flowchart illustrating a processing process according to one embodiment of the standing motion of the present invention. The processing process according to one embodiment of the present invention will be described below with reference to Fig. 17 and the like.

[0552] When the standing motion is initiated, the control unit (270) of the present invention controls the body drive unit (220) so that the body massage unit (210) stands up forward (S310).

[0553] As described above, the control unit (270) of the present invention controls the leg driving unit (240) so that the position of the leg massage unit (230) is adjusted in conjunction with the standing motion in order to resolve problems such as the leg massage unit (230) colliding with the ground (S320).

[0554] Specifically, the control unit (270) of the present invention can control the leg drive unit (240), specifically the length adjustment unit (241) which is a component of the leg drive unit (240), to reduce the length of the leg massage unit (230) when a standing motion is performed (S321).

[0555] Independently or in parallel with this, the control unit (270) of the present invention can control the leg drive unit (240), specifically the angle adjustment unit (243) which is a component of the leg drive unit (240), to rotate the leg massage unit (230) in the opposite direction (R2, see FIG. 23) to the direction in which the body massage unit (210) stands (R1, see FIG. 23) (S323).

[0556] Since both steps S321 and S323 are processing steps to avoid collision with the ground of the leg massage unit (230), it is obvious that these steps do not need to have a time series such that one step operates after the other.

[0557] In addition, it is of course possible to apply various combinations, such as performing one of steps S321 and S323 first and then performing the other after an appropriate amount of time, based on calculations such as detecting the distance from the ground and the radius of rotation (distance) due to the standing motion.

[0558] The control unit (270) of the present invention can control the leg driving unit (240) so that the lower part of the leg massage unit (230) becomes horizontal to the ground when the standing motion is completed (S330).

[0559] In the case of the embodiment of the present invention, when the user leaves the massage device (200), the physically supported foot part can be more stably and firmly supported, effectively preventing the user from slipping, etc., which may occur during the osteolithic (leave-off) process, and increasing the convenience and safety, etc., when the user steps forward out of the massage device (200).

[0560] As described in the above-described embodiment, the leg massage unit (230) may include a fixed frame unit (2100) that is rotatably coupled to the body massage unit (210) with respect to the first rotation axis (AX1, see FIG. 8, etc.), a movable frame unit (2300) that moves relative to the fixed frame unit (2100), and a leg massage body (2200) coupled to the movable frame unit (2300).

[0561] In this case, the length adjustment unit (241) of the present invention can be configured to adjust the length of the leg massage unit (230) by raising and lowering the movable frame unit (2300) based on the fixed frame unit (2100).

[0562] The control unit (270) of the present invention can control the length adjustment unit (241) so that the movable frame unit (2300) rises (in the +Z-axis direction based on the drawing) relative to the fixed frame unit (2100) as a relatively fixed body in relation to the length adjustment of the leg massage unit (230) or the position adjustment of the leg massage unit (230) when a standing motion is performed.

[0563] In this case, in order to more stably induce the angle, posture, height, etc. of the leg, the control unit (270) of the present invention can control the length adjustment unit (241) so that the upper position of the leg massage body (2200) is higher than the height of the first rotation axis (AX1) when the standing motion is performed.

[0564]

[0565] FIG. 18 and FIG. 19 are flowcharts illustrating a processing process according to another embodiment of the present invention, and the embodiment illustrated in these drawings corresponds to an embodiment in which the contact of the leg massage unit (230) with the ground is maintained using a detection sensor.

[0566] The control unit (270) of the present invention may be configured to be communicatively connected to the detection sensor (250) and perform processing such as receiving and parsing the detection signal output by the detection sensor (250). The detection sensor (250) of this embodiment corresponds to a configuration corresponding to the contact sensor of the aforementioned embodiment.

[0567] The control unit (270) of the present invention can be configured to confirm ground contact of the leg massage unit (230) using a detection signal input (S400) from the detection sensor (250) (S410).

[0568] When the leg massage unit (230) is not in contact with the ground (S410), the control unit (270) of the present invention can control the leg driving unit (240), the body driving unit (220), etc. according to an algorithm that implements various processing including the processing described above (S420).

[0569] When the control unit (270) of the present invention confirms that the leg massage unit (230) is in contact with the ground (S410), it controls the leg drive unit (240) so that the leg massage unit (230) is maintained in contact with the ground (S440).

[0570] If the point in time when the leg massage part (230) is confirmed to be in contact with the ground is the point in time when the standing motion is completed or a point in time equivalent thereto (S430), this means that the body massage part (210) no longer performs the motion of standing up (rotating forward). That is, in this case, the leg massage part (230) is in contact with the ground at the point in time when the standing motion is completed.

[0571] Therefore, the control unit (270) of the present invention can perform subsequent processing such as outputting guidance information for standing completion (S450), confirming user departure (S460), and changing basic posture (S470) as described above.

[0572] In contrast, if it is confirmed that the leg massage part (230) is in contact with the ground (S410), but the standing motion is not yet completed (S430), this means that the forward standing (forward rotation) of the body massage part (210) is still in progress and the position of the leg massage part (230) needs to be adjusted by the forward rotation (movement) of the body massage part (210).

[0573] Therefore, in this case, that is, when the leg massage unit (230) is in contact with the ground but the standing motion has not yet been completed, the control unit (270) of the present invention may be configured to control the length adjustment unit (241) or / and the angle adjustment unit (243) so that the leg massage unit (230) decreases in length or / and the leg massage unit (230) rotates in the reverse direction (S440), as described above.

[0574] The processing of each step described above (S400, S410, S420, S430, S440) can be configured to be applied cyclically, so that when the leg massage part (230) comes into contact with the ground during the standing motion of the body massage part (210), the contact state can be maintained.

[0575]

[0576] The embodiment illustrated in Fig. 19 is one embodiment of processing that controls the leg massage unit (230) to touch the ground in relation to a standing motion.

[0577] When the standing motion or / and the position adjustment motion of the leg massage unit (230) linked to the standing motion, as described in detail above, are driven (S500), the control unit (270) of the present invention checks whether the standing motion is completed (S510). Completion of the standing motion can be determined based on whether the body massage unit (210), etc. has moved by a predetermined angle or distance.

[0578] The control unit (270) of the present invention can be configured to check whether the leg massage unit (230) is in contact with the ground using the detection signal of the detection sensor (250) when the standing motion is completed (S510) (S520).

[0579] If the leg massage unit (230) is not in contact with the ground even after the standing movement is completed, the control unit (270) of the present invention can control the leg driving unit (240) to increase the length of the leg massage unit (230) or / and to rotate the leg massage unit (230) in the forward direction (R1) (S530).

[0580] The processing for confirming ground contact of the leg massage unit (230) (S520) and the processing for adjusting the position of the leg massage unit (230) (S530) can be applied cyclically until the leg massage unit (230) is finally in contact with the ground.

[0581] Finally, when it is confirmed that the leg massage unit (230) is in contact with the ground, the control unit (270) of the present invention can perform subsequent processing such as outputting guidance information for standing completion (S540), confirming user departure (S550), and changing the basic posture (S560) as described above.

[0582] Depending on the embodiment, a stop signal may be input by the user before the standing motion according to the normal routine is completed (S510). In this case, the leg massage unit (230) may not be in contact with the ground, and if the user leaves the massage device (200) in this state, problems such as safety accidents may occur.

[0583] Therefore, even in this case, it may be desirable to configure the step (S520) of confirming the ground contact of the leg massage part (230) as described above and the step (S530) of driving the increase in length of the leg massage part (230) or / and the forward rotation (R1) of the leg massage part (230).

[0584]

[0585] The embodiment illustrated in Fig. 20 is one embodiment of processing that controls the leg massage unit (230) to maintain a state of contacting the ground in relation to a standing motion.

[0586] The above-described detection sensor (250) may be a sensor that detects pressure applied to the leg massage part (230) by the ground, etc., as described in the above-described embodiment. Since the function, configuration, structure, installation, etc. of this detection sensor correspond to the contents described in the above-described embodiment, a description thereof will be omitted.

[0587] The control unit (270) of the present invention can control the leg driving unit (240) so that the pressure detected by the detection sensor (250) is within a predetermined range from the time the leg massage unit (230) comes into contact with the ground to the time the standing motion is completed.

[0588] Here, the reference range is information representing the state in which the leg massage unit (230) is in contact with the ground, and can be created based on raw data measured through field tests, etc., and can be set differently depending on the specifications of the massage device (200), etc.

[0589] Specifically, the control unit (270) of the present invention determines (S610) whether the size of the detection signal (S) input from the detection sensor (250) (S600) is within a reference range. Hereinafter, it is assumed that a large size of the detection signal means that the detected pressure is large.

[0590] When the standing motion is completed (S630) while the size of the detection signal (S) is within the reference range, the control unit (270) of the present invention can perform subsequent processing such as outputting guidance information for the completion of standing (S450, S540), confirming user departure (S460, S550), and changing the basic posture (S470, S560) as described above.

[0591] If the size of the detection signal (S) is within the reference range (S610) but the standing operation has not yet been completed (S630), steps S600 and S610 may be applied cyclically.

[0592] If the size of the detection signal (S) is outside the reference range (S610), specifically, if the size of the detection signal (S) is smaller than the reference range (S620), this means that the leg massage unit (230) is not in contact with the ground, and in this case, the control unit (270) of the present invention controls the leg drive unit (240) so that the length of the leg massage unit (230) increases or / and the leg massage unit (230) rotates in the forward direction (R1) (S640).

[0593] In contrast, if the size of the detection signal (S) is greater than the reference range (S620), this means that the leg massage unit (230) is pressing the ground relatively strongly, i.e., actual interference or collision between the leg massage unit (230) and the ground may occur.

[0594] Therefore, in this case, the control unit (270) of the present invention controls the leg driving unit (240) so that the length of the leg massage unit (230) decreases or / and the leg massage unit (230) rotates in the reverse direction (R2) (S650).

[0595] The differential control of the leg massage unit (230) according to the size of the detection signal (S) including whether the size of the detection signal (S) input from the detection sensor (250) is within the reference range can be configured to be applied cyclically, so that through such processing, the control unit (270) of the present invention can effectively maintain the state in which the leg massage unit (230) is in contact with the ground.

[0596]

[0597] The embodiment illustrated in Fig. 21 is one embodiment of processing that controls the leg massage unit (230) to touch the ground when the standing motion is initiated.

[0598] When the standing motion is initiated by various methods, such as when the ongoing massage is terminated, a selection signal is input from the user, or when a predetermined condition is met (S700), the control unit (270) of the present invention may be configured to first determine whether the leg massage unit (230) is in contact with the ground as illustrated in FIG. 21, rather than immediately initiating the operation of the standing motion as described above (S710).

[0599] It goes without saying that whether the leg massage part (230) is in contact with the ground can be determined by a method such as using the detection signal of the detection sensor (250) as described above.

[0600] When the contact of the leg massage unit (230) with the ground is confirmed (S710), the control unit (270) of the present invention initiates the operation of the standing motion (S730) and, as described above with reference to FIG. 20, etc., can control the leg driving unit (240) so that the contact of the leg massage unit (230) with the ground is maintained until the standing motion is completed or terminated (S740).

[0601] In contrast, when the leg massage unit (230) is not in contact with the ground (S710), the control unit (270) of the present invention can control the leg driving unit (240) to increase the length of the leg massage unit (230) or / and to rotate the leg massage unit (230) in the forward direction (R1) (S720).

[0602] The control unit (270) of the present invention controls the leg massage unit (230) to perform a standing motion, etc. after it comes into contact with the ground through such processing (S730).

[0603] The basic posture of the massage device (200) can be set in various ways depending on the embodiment, but this basic posture may not include a posture in which the leg massage part (230) is in contact with the ground.

[0604] Therefore, even in an embodiment in which processing (S140) for changing the posture of a massage device (200) to a basic posture is performed first, as described with reference to FIG. 15, the processing illustrated in FIG. 21 can be applied.

[0605] In the embodiment described with reference to the drawings, if the contact of the leg massage unit (230) with the ground is not detected for a reference time, this may be due to a problem such as interference or entrapment of an object other than the ground, or an operation error of the leg massage unit (230), so the control unit (270) of the present invention may be configured to output guidance information regarding the inability of the leg massage unit (230) to contact the surroundings of the user and to prevent safety accidents.

[0606]

[0607] Although the present invention has been described above with reference to limited embodiments and drawings, the present invention is not limited thereto, and it is obvious that various modifications and variations are possible within the scope of the technical idea of ​​the present invention and the equivalent scope of the patent claims to be described below by a person having ordinary skill in the art to which the present invention pertains.

[0608] In the description of the present invention described above, modifiers such as first and second are merely instrumental conceptual terms used to relatively distinguish components from each other, and should be interpreted as not being terms used to indicate a specific order, priority, etc.

[0609] The drawings attached for the purpose of explaining the present invention and illustrating embodiments thereof may be illustrated in a somewhat exaggerated form to emphasize or highlight the technical contents of the present invention. However, it should be interpreted that it is obvious that various modified application examples may be possible at the level of a person skilled in the art in consideration of the contents described above and matters illustrated in the drawings.

[0610] The method for controlling the massage device according to the present invention described above can be implemented as computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices (CD-ROMs, RAMs, ROMs, floppy disks, magnetic disks, hard disks, magneto-optical disks, etc.) that store data that can be read by a computer, and also includes servers for wired and wireless Internet transmission.

Claims

1. Base frame that can contact the ground; A tilting frame coupled to a body frame capable of supporting a part of the user's body and capable of rotating relative to the base frame; and A tilting drive unit that connects the base frame and the tilting frame and transmits power to the tilting frame to rotate the tilting frame relative to the base frame; Massage device.

2. In paragraph 1, The above tilting driving unit is provided in multiple numbers and is spaced apart along the width direction of the tilting frame. Massage device.

3. In paragraph 1, The above tilting drive unit, A tilting drive source that generates driving force; and A tilting rod connected to the above tilting driving source and having an adjustable length; Massage device.

4. In paragraph 3, The above tilting drive unit is adjusted in length by an actuator. Massage device.

5. In paragraph 1, The above base frame, A base upper frame to which the above tilting frame is rotatably connected; and A base lower frame coupled to the base upper frame and positioned between the base upper frame and the ground; Massage device.

6. In paragraph 5, It further includes a leg massage unit that massages the user's legs and is rotatably connected to the body frame; The front end of the above base lower frame is arranged facing the side of the leg massage part, Massage device.

7. In paragraph 6, The above base lower frame has a base contact portion so that at least one of the front and rear ends is in contact with the ground; Massage device.

8. In paragraph 6, The above leg massage part, A fixed frame part that is rotatably connected to the above body frame; A leg massage body into which the user's leg can be inserted is combined, and a movable frame part that can move relative to the fixed frame part; and A length detection unit installed in the fixed frame part and the movable frame part, and measuring the relative movement length of the movable frame part and the fixed frame part; Massage device.

9. In paragraph 8, The above leg massage unit is a massage device including a calf massage unit that massages the user's calves; and a foot massage unit that massages the user's feet.

10. In paragraph 9, The above moving frame part includes a first moving frame coupled to the calf massage body; and a second moving frame coupled to the foot massage body. Massage device.

11. In paragraph 8, The above length sensing unit, A sensor plate formed to extend along the longitudinal central axis and having one side positioned and fixed to the fixed frame portion; and A sensor body that moves on the sensor plate as the movable frame part moves relative to the fixed frame part; Massage device.

12. In paragraph 11, The above sensor body irradiates light, The above sensor plate is placed in the irradiation path of the light, and a passage hole is formed to allow the light to pass through. Massage device.

13. In paragraph 11, A fastening hole is formed on one side of the sensor plate that is positioned and fixed to the fixed frame so that a fastening member can pass through and be fastened to the fixed frame. Massage device.

14. In paragraph 8, The above leg massage part further includes a contact roller part having a contact roller rotatably connected to the moving frame part; and a contact sensor capable of recognizing contact with the ground; Massage device.

15. In paragraph 8, The above leg massage section is provided in multiple units, A plurality of the above leg massage parts are independently movable, Massage device.

16. A massage device including a leg massage part into which a user's leg can be inserted, The above leg massage part, Fixed frame part; A leg massage body into which the user's leg can be inserted is combined, and a movable frame part that can move relative to the fixed frame part; and A length driving unit disposed between the fixed frame part and the movable frame part, and generating rotational power to linearly move the movable frame part relative to the fixed frame part; Massage device.

17. In paragraph 16, The above length driving part is, A longitudinal driving unit that generates rotational power by receiving power; A lead part coupled to the above fixed frame part; and A power transmission unit coupled to the above moving frame unit and receiving power from the length driving unit to move linearly on the lead unit; Massage device.

18. In paragraph 17, The above power transmission unit, A power transmission housing that is fixedly positioned and coupled to the above moving frame; and A power transmission body that is accommodated in the power transmission housing and receives power from the longitudinal driving unit and moves on the lead unit; Massage device.

19. In paragraph 18, The above power transmission body is, A moving unit moving on the above lead portion; and A pulley unit connecting the length driving unit and the moving unit; Massage device.

20. In paragraph 19, The above moving unit is connected to the lead part in a screw-joint manner, Massage device.

21. In paragraph 18, The above lead portion penetrates the power transmission housing and provides a movement path of the power transmission housing. Massage device.

22. In paragraph 18, The leg massage part further includes a length detection part that is installed on the fixed frame part and the movable frame part and measures the relative movement length of the movable frame part and the fixed frame part. Massage device.

23. In paragraph 22, The above length sensing unit, A sensor plate formed to extend along the longitudinal central axis and having one side positioned and fixed to the fixed frame portion; and A sensor body that moves on the sensor plate as the movable frame part moves relative to the fixed frame part; Massage device.

24. In paragraph 23, The above sensor body is coupled to the power transmission housing and is movable together with the power transmission housing. Massage device.

25. In paragraph 24, The above sensor body irradiates light, The above sensor plate is placed in the irradiation path of the light, and a passage hole is formed to allow the light to pass through. Massage device.

26. In paragraph 17, The above lead part, A lead base coupled to the above fixed frame portion; and A lead shaft connected to the above lead base and formed to extend along the length direction; Massage device.

27. In paragraph 26, The above lead base includes a lead bracket that protrudes the lead shaft toward the front; Massage device.

28. In paragraph 26, The length of the lead shaft formed to extend along a preset direction is formed to be relatively shorter than the length of the fixed frame portion. Massage device.

29. In paragraph 16, The above leg massage body includes a calf massage body that massages the user's calves; and a foot massage body that massages the user's feet. Massage device.

30. In paragraph 16, The above leg massage section is provided in multiple units, A plurality of the above leg massage parts are independently movable, Massage device.

31. A tilting drive unit that transmits power to a tilting frame connected to a body frame capable of supporting a part of the user's body, thereby causing the tilting frame to rotate relative to a base frame capable of contacting the ground; A length-adjustable length driving unit for the leg massage unit connected to the above body frame; and A control unit that controls the operation of the tilting drive unit and the length drive unit simultaneously or sequentially; Massage device.

32. In paragraph 31, The above leg massage part, Fixed frame part; and A hinge drive unit connected to the body frame and capable of transmitting power to the fixed frame unit to adjust the relative rotation angle of the fixed frame unit with respect to the body frame; Massage device.

33. In paragraph 32, The above control unit controls the operation of the length driving unit while simultaneously or sequentially controlling the operation of the hinge driving unit. Massage device.

34. In paragraph 32, The above hinge drive unit, A hinge drive unit that generates power; and A hinge link part rotatably connected to the body frame and capable of contacting the leg massage part by receiving power from the hinge drive part; Massage device.

35. In paragraph 34, The above hinge link part, A hinge link body rotatably connected to the above body frame; and A hinge link roller connected to one end of the hinge link body and capable of contacting the fixed frame portion; Massage device.

36. In paragraph 34, The above hinge driving unit includes a driving rod whose length can be adjusted; Massage device.

37. In paragraph 31, The above leg massage part includes a contact roller part having a contact sensor capable of recognizing contact with the ground; Massage device.

38. In paragraph 37, The above contact roller part further includes a contact roller that is rotatable about a preset rotation center axis and is capable of contacting the ground; Massage device.

39. In paragraph 38, The above contact rollers are provided in multiple numbers, A plurality of the above contact rollers are respectively arranged on both sides of the leg massage section. Massage device.

40. In paragraph 38, The above contact sensor is installed on the contact roller and measures the pressure applied to the contact roller from the ground. Massage device.

41. In paragraph 31, The above leg massage part, Fixed frame part; and A leg massage body into which the user's leg can be inserted is combined, and includes a fixed frame part and a movable frame part that can move relative to the fixed frame part; The above-mentioned length driving part transmits power to the above-mentioned moving frame part, thereby moving the above-mentioned moving frame part relative to the above-mentioned fixed frame part. Massage device.

42. In paragraph 41, The leg massage part further includes a length detection part installed on the fixed frame part and the movable frame part and measuring the relative movement length of the movable frame part and the fixed frame part. Massage device.

43. In paragraph 41, The above leg massage unit further includes a leg massage body that is connected to the moving frame unit and into which the user's leg can be inserted; Massage device.

44. In paragraph 43, The above leg massage body includes a calf massage body that massages the user's calves; and a foot massage body that massages the user's feet. Massage device.

45. In paragraph 31, The above leg massage section is provided in multiple units, A plurality of the above leg massage parts are independently movable, Massage device.

46. ​​A body massage unit that massages at least a part of the user's body; A leg massage section provided at the lower part of the above body massage section; A body driving unit that changes the position or posture of the above body massage unit; A leg drive unit that adjusts the position of the above leg massage unit; and A massage device characterized in that it includes a control unit that controls the body drive unit and the leg drive unit so that the standing motion of the sea massage unit standing up forward and the position adjustment of the leg massage unit are linked.

47. In paragraph 46, the body massage part, Includes seat and backrest, The above control unit, A massage device characterized in that, when the above standing motion is performed, the body drive unit is controlled so that the seat unit is tilted downward toward the ground.

48. In paragraph 46, the leg driving part, Includes a length adjustment part for adjusting the length of the leg massage part, The above control unit, A massage device characterized in that, when the above standing motion is performed, the length adjustment unit is controlled so that the length of the leg massage unit decreases.

49. In paragraph 46, the leg driving part, Including an angle adjustment part for adjusting the angle of the above leg massage part, The above control unit, A massage device characterized in that, when the above standing motion is performed, the angle adjustment unit is controlled so that the leg massage unit rotates in the opposite direction to the direction in which the body massage unit stands.

50. In paragraph 49, the leg drive unit, It further includes a length adjustment part for adjusting the length of the leg massage part, The above control unit, A massage device characterized in that, when the above standing motion is performed, the length adjustment unit and the angle adjustment unit are controlled so that the length of the leg massage unit is reduced and the leg massage unit is rotated in the reverse direction.

51. In paragraph 49, the control unit, A massage device characterized in that, when the above standing motion is performed, the angle adjustment unit is controlled so that the lower part of the leg massage unit is horizontal to the ground.

52. In paragraph 48, the leg massage part, A fixed frame part rotatably coupled to the body massage part based on the first rotation axis; A movable frame part that moves relative to the fixed frame part; and Includes a leg massage body coupled to the above moving frame, The above length adjustment part, The length of the leg massage part is adjusted by raising and lowering the movable frame part based on the fixed frame part. The above control unit, A massage device characterized in that the length adjustment part is controlled so that the moving frame part rises when the standing movement is performed.

53. In paragraph 52, the control unit, A massage device characterized in that, when the above standing motion is performed, the length adjustment unit is controlled so that the upper position of the leg massage body is higher than the height of the first rotation axis.

54. In paragraph 46, It further includes a detection sensor that detects contact between the above leg massage part and the ground, The above control unit, A massage device characterized in that the leg drive unit is controlled so that the leg massage unit is maintained in contact with the ground using the detection signal of the detection sensor.

55. In paragraph 48, It further includes a detection sensor that detects contact between the above leg massage part and the ground, The above control unit, A massage device characterized in that the length adjustment unit is controlled so that the leg massage unit is maintained in contact with the ground using the detection signal of the detection sensor.

56. In paragraph 49, It further includes a detection sensor that detects contact between the above leg massage part and the ground, The above control unit, A massage device characterized in that the angle adjustment unit is controlled so that the leg massage unit maintains contact with the ground using the detection signal of the detection sensor.

57. In paragraph 46, It further includes a detection sensor that detects contact between the above leg massage part and the ground, The above control unit, A massage device characterized in that when the leg massage part does not come into contact with the ground at the time the standing movement is completed, the leg drive part is controlled so that the leg massage part comes into contact with the ground.

58. In paragraph 46, It further includes a sensor that detects the pressure applied to the leg massage part by the ground, The above control unit, A massage device characterized in that the leg drive unit is controlled so that the pressure detected by the detection sensor is within the reference value range from the point at which the leg massage unit comes into contact with the ground to the point at which the standing movement is completed.

59. In paragraph 46, the leg massage part, A first leg massage unit for massaging one leg of the user; and A massage device characterized by including a second leg massage unit that massages the other leg of the user and moves relative to the first leg massage unit.

60. In paragraph 46, It further includes a detection sensor that detects contact between the above leg massage part and the ground, The above control unit, A massage device characterized in that when the leg massage part does not come into contact with the ground at the time the standing movement starts, the leg drive part is controlled so that the leg massage part comes into contact with the ground.

61. A method for controlling a massage device comprising a body massage unit that massages at least a part of a user's body, a leg massage unit provided at a lower portion of the body massage unit, a body drive unit that changes the position or posture of the body massage unit, a leg drive unit that adjusts the position of the leg massage unit, and a control unit, wherein the control unit controls the massage device. A signal input step in which a start signal for the forward standing of the above body massage part is input; and A control method for a massage device, characterized in that it includes a control step for controlling the body drive unit and the leg drive unit so that the standing motion in which the body massage unit stands up forward and the position adjustment for adjusting the position of the leg massage unit are linked.

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