Storage type massage device

Abstract

The present invention relates to a storage-type massage device, and the storage-type massage device according to one embodiment of the present invention comprises: a support module capable of supporting a part of the body of a user and having an inner space formed at the lower end thereof; the massage device can be inserted into the inner space or led out of the inner space, and comprises a massage module which reciprocates in the length direction of the massage device; and the cleaning unit is arranged on the massage device and is used for sucking foreign matters. According to the storage type massage device of one embodiment of the present invention, the module capable of being independently driven is stored in the internal space of the fixed module, so that the space utilization can be improved when the storage type massage device is not used.

Description

Technical Field

[0001] The present invention relates to a storage type massage device, and more particularly, to a storage type massage device in which two or more modules different from each other are arranged in a state of overlapping each other, and at least one of the modules can be driven independently. Background Art

[0002] Currently, various types of beds have been launched, and various massage beds with massage rollers for massage are being developed. The bed or massage bed needs to have a space of a predetermined width that can accommodate the massage rollers, and if the bed and the massage bed are to be configured separately, there will be many space limitations.

[0003] In order to overcome such space limitation, there has been a demand for a functional bed having both a basic function as a bed and a function as a massage bed, and some such functional beds have been developed.

[0004] Furthermore, a bed-type furniture composed of a frame for extending an upper plate that contacts a user's body is being marketed in a prior art document for extending the function of a bed.

[0005] However, the bed-type furniture currently sold or developed has the disadvantage of being unable to be driven independently, and there is a problem that the contact area is simply enlarged but it cannot be driven independently.

[0006] Therefore, it is necessary to develop a bed that can provide both the function of a basic home and the function of an independently constructed massage device, and a massage device with high space utilization is needed.

[0007] Prior art literature

[0008] Patent Literature

[0009] Patent Document 1: Korean Patent Publication No. 10-2015-0124625 Summary of the invention

[0010] Problem that the invention aims to solve

[0011] The present invention is proposed to solve the above-mentioned problems. An object of the present invention is to provide a retractable massage device including at least one fixed module as a home and a massage device placed in the internal space of the fixed module and capable of being driven independently.

[0012] Furthermore, the present invention aims to provide a retractable massage device capable of leading an independently drivable massage module out from a fixed module.

[0013] In addition, the present invention is intended to provide a retractable massage device, which is used to guide the movement relationship between each module when the independently drivable module including the massage module is led out of or inserted into the fixed module configured as furniture.

[0014] The purpose of the present invention is not limited to the above purpose, and other purposes not mentioned in the present invention can be understood through the following description and can be more clearly understood through the embodiments of the present invention. In addition, the purpose of the present invention can be achieved by the units indicated in the claims and their combinations.

[0015] Means used to solve problems

[0016] The storage-type massage device for achieving the above-mentioned object of the present invention includes the following structure.

[0017] According to an embodiment of the present invention, a retractable massage device includes: a support module capable of supporting a part of a user's body, an internal space being formed at the lower end of the support module; a massage device capable of being inserted into or led out of the internal space of the support module, the massage device including a massage module that reciprocates along a length direction; and a cleaning unit located in the massage device and used to suck in foreign matter.

[0018] In addition, a storage-type massage device is provided, wherein the massage device is provided with a driving unit, and the driving unit is used to insert the massage device into the internal space of the support module, or to lead the massage device out from the internal space of the support module.

[0019] Furthermore, a retractable massage device is provided, wherein the driving unit comprises: a plurality of wheels mounted on a lower end portion of the massage device; and at least one driving motor for driving the plurality of wheels.

[0020] In addition, a retractable massage device is provided, wherein the at least one driving motor includes multiple driving motors installed on any one of a plurality of first wheels and a plurality of second wheels, and based on the direction in which the massage device is led out of the internal space, the plurality of first wheels correspond to the front wheels, and the plurality of second wheels correspond to the rear wheels, and the rotation speeds of the plurality of driving motors can be controlled to be different from each other.

[0021] Furthermore, a storage type massage device is provided, wherein the storage type massage device comprises: a first frame for supporting the support module; and a second frame for supporting the massage device. The cleaning unit is located at the back of the second frame.

[0022] Furthermore, a storage-type massage device is provided, wherein the cleaning unit is arranged along the length direction and moves between the plurality of wheels of the massage device.

[0023] Furthermore, a storage-type massage device is provided, wherein the cleaning unit is located at a front end of the massage device in a direction leading out from the internal space.

[0024] In addition, a retractable massage device is provided, wherein the cleaning unit includes: a guide rail extending along the length direction of the massage device; one or more roller parts located on the upper surface of the guide rail; a cleaning bracket extending from the lower end of the guide rail in the height direction and fastened to the roller part; a cleaner body fastened to the cleaning bracket and including an inflow hole; and a driving part passing through the cleaning bracket and applying a driving force to the lower surface of the guide rail.

[0025] Furthermore, a storage type massage device is provided, wherein the movement of the roller part and the driving part in the height direction of the guide rail is restricted by the cleaning bracket.

[0026] Furthermore, a storage type massage device is provided, wherein the guide rail includes a partition protruding from an upper end in a height direction, and the one or more roller parts are in contact with an upper surface of the guide rail at both sides of the partition.

[0027] Furthermore, a storage type massage device is provided, wherein the cleaning unit comprises: a storage box for storing foreign matter sucked by the cleaning unit; and an opening formed in an open manner on one side of the massage device to disassemble and install the storage box. When the driving of the cleaning unit is turned off, the storage box moves to a position corresponding to the opening.

[0028] Furthermore, a storage-type massage device is provided, wherein a wiping unit extending along the length direction is provided on the lower surface of the massage device.

[0029] Furthermore, a storage-type massage device is provided, wherein the wiping unit is located at a rear end in a width direction of the cleaning unit.

[0030] Furthermore, a storage type massage device is provided, wherein the wiping unit comprises: a wiping member facing the floor; a wiping bracket connected to the massage device and used to guide the movement of the wiping member; and an actuator connected to the wiping member. The wiping member moves in the height direction as the actuator expands and contracts in the length direction.

[0031] In addition, a retractable massage device is provided, wherein the wiping unit further comprises: a rod fastened to the wiping member; a guide groove located in the wiping bracket, the rod is inserted into the guide groove, and the rod moves along the guide groove as the actuator expands and contracts in the length direction.

[0032] Effects of the Invention

[0033] The present invention can achieve the following effects through the combination and use relationship of the above embodiments and the configurations to be described below.

[0034] According to the present invention, the independently drivable module is stored in the internal space of the fixed module, thereby having the effect of improving space utilization when the storage-type massage device is not in use.

[0035] Also, according to the present invention, there is an effect of providing a structure capable of minimizing interference between a fixed module and a moving module by providing various structures for guiding the movement and insertion of a drivable module. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 2 is a diagram showing a storage-type massage device according to an embodiment of the present invention.

[0037] Figure 2 is a diagram illustrating a massage device including a driving unit according to an embodiment of the present invention.

[0038] Figure 3 It is shown Figure 2 Figure 2 shows a diagram of the drive unit in FIG.

[0039] Figure 4 is a diagram illustrating a first frame constituting a support module according to an embodiment of the present invention.

[0040] Figure 5 2 is a diagram showing a first frame and a second frame according to an embodiment of the present invention.

[0041] Figure 6 2 is a diagram illustrating a guide portion and a blocking portion according to an embodiment of the present invention.

[0042] Figures 7 and 8 2 is a diagram showing a guide portion fastened to a rail according to an embodiment of the present invention.

[0043] Fig. 9 2 is a diagram showing a guide portion inserted into an inner side of a rail according to an embodiment of the present invention.

[0044] Fig.10 1 is a diagram showing a separation prevention plate rotated to a position where interference occurs on a track path according to an embodiment of the present invention.

[0045] Fig.11 is a diagram showing an anti-separation plate rotated to a position where no interference occurs on a track path according to an embodiment of the present invention.

[0046] Fig.12is a diagram illustrating a massaging device including a cleaning unit according to an embodiment of the present invention.

[0047] Fig.13 is a diagram showing a side view of a massaging device including a cleaning unit according to an embodiment of the present invention.

[0048] Fig.14 is a diagram illustrating a cleaning unit fastened to a second frame according to an embodiment of the present invention.

[0049] Fig.15 is a diagram showing a configuration of a cleaning unit according to an embodiment of the present invention.

[0050] Fig.16 1 is a diagram showing a configuration of a cleaning unit fastened to a guide rail according to an embodiment of the present invention.

[0051] Fig.17 is a diagram illustrating a rear side of a cleaning unit according to an embodiment of the present invention.

[0052] Fig.18 is a diagram illustrating a dust moving path of a cleaning unit according to an embodiment of the present invention.

[0053] Figures 19 to 20 1 is a diagram showing the configuration of an opening portion of a cleaning unit and a storage box according to an embodiment of the present invention.

[0054] Figure 21 to Figure 23 1 is a diagram showing a configuration for changing the height of a wiping unit according to an embodiment of the present invention.

[0055] Fig.24 FIG. 1 is a diagram showing a configuration of a driving unit including a driving shaft according to another embodiment of the present invention.

[0056] Figure 25 to Figure 27 is a diagram showing a sensor for measuring movement in a length direction of a massage device according to an embodiment of the present invention.

[0057] Figures 28 to 30 FIG. 2 is a diagram showing a track located at a support module and used to guide movement of a massage device according to still another embodiment of the present invention.

[0058] Fig.31 2 is a diagram showing the configuration of a track according to still another embodiment of the present invention.

[0059] Fig.32 is a diagram showing a cover configured to wrap an opened end of a rail according to still another embodiment of the present invention.

[0060] Figure 33 to Figure 35 2 is a diagram showing a coupling relationship between components of an alignment unit according to an embodiment of the present invention.

[0061] Figure 36 to Figure 39 : is a diagram showing the positional relationship of sensor parts according to the embodiment of the present invention.

[0062] Figures 40 to 44 2 is a diagram showing a driving relationship of a cover portion according to an embodiment of the present invention.

[0063] Description of Reference Numerals

[0064] 100: Support module

[0065] 101: Top

[0066] 102: Lower end

[0067] 110: First Frame

[0068] 111: Magnetic component

[0069] 120: Guidance Department

[0070] 200: Massage device

[0071] 210: Second Frame

[0072] 220: Drive unit

[0073] 221: Wheels

[0074] 222: Drive motor

[0075] 230: Track

[0076] 231: Blocking Department

[0077] 232: Anti-detachment plate

[0078] 233: Motor

[0079] 240: Sensing unit

[0080] 300: Massage module

[0081] 400: Cleaning unit

[0082] 410: Guide Rail

[0083] 420: Roller

[0084] 430: Cleaning bracket

[0085] 440: Cleaner body

[0086] 450: Drive unit

[0087] 460: Storage Box

[0088] 470: Opening

[0089] 500: Wiping unit

[0090] 510: Wiping component

[0091] 520: Wipe the bracket

[0092] 521: Boot slot

[0093] 530: Actuator

[0094] 600: Alignment Unit

[0095] 610: Cover

[0096] 620: Guide motor

[0097] 630: Sensor Department

[0098] 631: Pressure sensor

[0099] 632: Contact sensor

[0100] 700: Position sensor unit

[0101] 710: First sensor

[0102] 720: Second sensor

[0103] 730: Third sensor

[0104] 1000: Roller

[0105] 1100: Track

[0106] 1200: Cover DETAILED DESCRIPTION

[0107] The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and can be implemented in various different forms. The embodiments are provided only to ensure that the disclosure of the present invention is complete and fully informs those skilled in the art of the scope of the present invention, and the present invention is limited only by the scope of the claims. Throughout the specification, the same reference numerals represent the same constituent elements.

[0108] The terms “...part”, “...unit”, “...module”, etc. recorded in the specification refer to a unit that processes at least one function or action and can be implemented as hardware, software, or a combination of hardware and software.

[0109] Also, in this specification, the names of structures are distinguished as "first", "second", etc. in order to distinguish structures having the same name, and the following description is not necessarily limited to the order.

[0110] Furthermore, in this specification, it is referred to as having a height direction, a width direction and a length direction based on the supporting module, which are based on the height direction, the width direction and the length direction in the specification. Figure 1 The directions set in are disclosed, but these are for explaining the directions in which each constituent moves and are not limited to the described directions.

[0111] The detailed description is an illustrative description of the present invention. Furthermore, the above content represents and describes the preferred embodiments of the present invention, and the present invention can be used in a variety of different combinations, changes and environments. That is, the scope of the concept of the invention disclosed in this specification can be changed or modified within the scope of the above disclosure and / or within the scope of the technology or knowledge in the field. The above embodiments illustrate the best state of the present invention to realize the technical idea of ​​the present invention, and various changes required in the specific application field and use of the present invention are also possible. Therefore, the above detailed description of the present invention is not intended to limit the present invention to the disclosed embodiments. In addition, the attached claims should also be interpreted as covering other embodiments.

[0112] Figure 1 2 is a diagram showing a storage-type massage device according to an embodiment of the present invention.

[0113] Reference Figure 1 , the retractable massage device may include a support module 100 and a massage device 200. The support module 100 is a concept including a structure capable of supporting a part of the user's body, and in one embodiment of the present invention, includes an internal space A in the form of furniture having a predetermined space, such as a bed, a sofa, or a table. The massage device 200 refers to a structure that can be placed at a position overlapping with the support module 100 in space, and may include a furniture structure having the same form as the support module 100 or a structure separated from the support module 100.

[0114] As an example, the support module 100 may be configured as a bed, and the massage device 200 may be configured as a sub-bed, and may be configured to be inserted into the internal space A located at the lower part of the first module, or to be drawn out from the internal space A. In addition, the support module 100 may be configured as a sofa, and the massage device 200 may be configured by a cushion, which is placed in the lower end space of the support module 100 and can be unfolded. In this way, the support module 100 is configured to include the internal space A in which the massage device 200 can be placed, and the massage device 200 can be selectively inserted into the internal space A or drawn out from the internal space A.

[0115] The support module 100 may have an internal space A into which the massage device 200 may be inserted. When the massage device 200 is fully inserted into the internal space A, the massage device 200 may not protrude to the outside of the support module 100. As an embodiment of the present invention, the size of the support module 100 is configured to be larger than the size of the massage device 200, and more preferably, the internal space A may be configured as a space into which the massage device 200 may be inserted.

[0116] The massage device 200 may be inserted into the inner space A of the support module 100, or may be drawn out from the inner space A. The massage device 200 may include a massage module 300 for massaging a user. At least a portion of the massage module 300 may be protruded from the upper surface of the massage device 200. In addition, the massage module 300 may be selectively applied from a seat-type or bed-type massage module 300.

[0117] The seated massage module 300 refers to a form in which one end of the upper surface of the massage device 200 rises in the height direction at a predetermined angle, and the massage module 300 is driven when the user sits on the massage device 200. For the bed-type massage module 300, when the user lies on the upper surface of the massage device 200, the massage module 300 moves in contact with the user's body and performs acupressure on the user's body, thereby providing acupressure massage.

[0118] As an embodiment of the present invention, the massage device 200 includes a bed-type massage module 300 , and the massage module 300 can reciprocate along the length direction on the upper surface of the massage device 200 .

[0119] In addition, the massage module 300 is located on the upper surface of the massage device 200, and the massage module 300 includes a massage ceramic 310 that directly or indirectly contacts the user's body and a recessed space B formed in the massage device 200. The massage ceramic 310 can reciprocate along the length direction in the recessed space B formed in the massage device 200. And, the massage ceramic 310 includes a height adjustment part, thereby being selectively moved in the height direction on the upper surface of the massage device 200. Therefore, the massage ceramic 310 protrudes a predetermined height from the upper surface of the massage device 200 in response to the user's massage request, and the massage device 200 can be controlled to be parallel to the upper surface of the massage device 200 in the closed state, or placed at a position lower than the upper surface of the massage device 200.

[0120] Furthermore, the massage ceramic 310 and the height adjustment part of the massage module 300 can move along the grooves formed at both side ends of the recessed space B in the length direction of the massage device 200, and the height of the massage ceramic 310 can be changed.

[0121] As an embodiment of the present invention, the height adjustment part may be constituted by an actuator, and the actuator is fastened to the massage ceramic 310. Therefore, the actuator may be driven in such a manner that the massage ceramic 310 selectively protrudes toward the upper surface of the massage device 200 in response to a driving condition of the massage device 200 or a body shape of a user positioned at the massage device 200. More preferably, the massage ceramic 310 may reciprocate along the length direction of the recessed space B on the upper surface of the massage device 200, and the massage ceramic 310 is fastened to the actuator and placed inside the recessed space B.

[0122] In an embodiment of the present invention, the massage module 300 is located in the bed type massage device 200 , and the massage module 300 may be configured to be driven in a state where the massage device 200 is drawn out of the inner space A of the support module 100 .

[0123] In addition, the massage module 300 may be driven according to a user's request, and more preferably, the massage module 300 may include a position sensor unit 700, which may determine the position of the massage device 200 in the internal space A when the massage device 200 moves in the width direction. The position sensor unit 700 may include at least one sensor provided in the massage device 200, and may include one or more sensors corresponding to the sensors of the massage device 200 in the internal space A. Therefore, it may be determined at which position the massage device 200 is located in the internal space A. In addition, when the position sensor unit 700 determines that the massage device 200 is completely protruding or drawn out to the outside of the internal space A, the control part may drive the massage module 300.

[0124] The support module 100 may be configured to be relatively longer in length and width than the massage device 200, and the internal space A formed in the support module 100 may not be exposed through the rear surface of the massage device 200. More preferably, the frame formed on the rear surface of the massage device 200 may be configured to extend in the length and height directions of the massage device 200, so that the internal space A is not exposed.

[0125] The support module 100 of the present invention includes a first frame 110 for supporting a cushion located at the upper end of the support module 100. The first frame 110 is formed in a state where one surface in the width direction thereof is opened, thereby forming an inner space A into which the massage device 200 can be inserted inside the first frame 110. That is, the first frame 110 includes an upper end 101 and a lower end 102, and is formed in a state where one surface in the width direction thereof is opened, and the second frame 210 of the massage device 200 can move along the opened one surface of the first frame 110.

[0126] The massage device 200 includes a second frame 210 for supporting the massage device 200, and is configured to have a relatively smaller height, length, and width than the internal space A of the support module 100. In addition, the second frame 210 may be formed with a rear surface so that one surface of the first frame 110 opened in a state where the second frame 210 is inserted into the internal space A is not exposed to the outside.

[0127] In one embodiment of the present invention, the massage device 200 is configured to be movable in the width direction of the support module 100 in the area overlapping with the support module 100, and the massage device 200 includes a driving unit 220 that drives the massage device 200 to move independently when the massage device 200 is completely drawn out of the support module 100. More preferably, the driving unit 220 can make the massage device 200 move linearly, and further, the driving unit 220 can be configured to include two or more driving motors 222 to enable the massage device 200 to move rotationally.

[0128] The position sensor unit 700 may include a first sensor 710, which is located on a surface of the massage device 200 inserted into the inner side of the internal space A, and one or more sensors (a second sensor 720 and a third sensor 730) may be provided on the inner side of the first frame 110, and the one or more sensors are located on the moving path of the first sensor 710.

[0129] In one embodiment of the present invention, it includes: a third sensor 730 at a position corresponding to the first sensor 710 of the massage device 200 inserted into the inner side of the internal space A; and a second sensor 720 located at the open end of the internal space A and arranged on the moving path of the first sensor 710.

[0130] Therefore, when the massage device 200 is inserted into the inner side of the internal space A and then drawn out from the internal space A, the first sensor 710 moves linearly along the width direction of the internal space A as the massage device 200 moves, and thus the first sensor 710 moves in a direction to sequentially contact the third sensor 730 and the second sensor 720. That is, when the first sensor 710 sequentially contacts the third sensor 730 and the second sensor 720, the control unit determines that the massage device 200 moves and is drawn out from the inner side of the internal space A.

[0131] On the contrary, when the first sensor 710 contacts the second sensor 720 and the third sensor 730 in sequence, the control unit may determine that the massage device 200 is moved and inserted into the inner side of the internal space A.

[0132] Figure 2FIG. 2 shows a driving unit 220 of a massage device 200 as an embodiment of the present invention. Figure 3 is an enlarged view showing the driving unit 220 .

[0133] The driving unit 220 provided in the massage device 200 includes a plurality of wheels 221 (i.e., front wheels or rear wheels) located at the front end or rear end in the moving direction of the massage device 200. One or more wheels 221 among the plurality of wheels 221 are fastened to a driving motor 222, and enable the massage device 200 to perform linear and rotational movements according to the rotational force applied by the driving motor 222.

[0134] In addition, the driving motor 222 provided in the massage device 200 may apply driving force to the plurality of wheels 221 located at the front end of the massage device 200 in the direction leading out from the internal space A, or apply driving force to the plurality of wheels 221 located at the rear end of the massage device 200 in the direction leading out from the internal space A. The control part may control the driving of the driving motor 222 in response to a user's request or setting of a moving direction.

[0135] According to an embodiment of the present invention, the driving motor 222 is fastened to each of the two wheels 221 located at the front end and transmits the driving force of the massage device 200. Therefore, when the massage device 200 is drawn out from the internal space A of the support module 100, the two driving motors 222 fastened to the front wheels are driven at the same time. And, in order to perform rotational movement according to a user's request in a state where the massage device 200 is completely drawn out from the support module 100, only one driving motor 222 is driven, or more than two driving motors 222 are driven to have different rotation amounts from each other.

[0136] That is, the driving motor 222 of the driving unit 220 can apply driving force to the wheels 221 according to the moving direction of the massage device 200. In another embodiment of the present invention, the massage device 200 performs linear movement and rotational movement by the driving motor 222 fastened to the multiple wheels 221 located at the rear end.

[0137] In the embodiment of the present invention in which the wheel 221 at the rear end is driven, the massage device 200 can be controlled to have a relatively smaller rotation radius compared to the front wheel drive method.

[0138] like Figure 3As shown, the driving motor 222 is fastened to the wheel 221. In addition, the driving motor 222 includes: a driving gear 222a located at the central axis of the driving motor 222; a transmission gear 221a fastened to the driving gear; and a wheel 221 fastened coaxially with the transmission gear 221a and located at the bracket of the lower end of the second frame 210. In addition, the outer diameters of the driving gear 222a and the transmission gear 221a can be changed according to the speed of the driving motor 222 and the torque applied.

[0139] In one embodiment of the present invention, the driving gear 222a is configured to have a relatively smaller outer diameter than the transmission gear 221a, and the number of revolutions of the wheel 221 is smaller than the number of revolutions applied from the driving motor 222, and is configured so that a torque relatively larger than the torque of the central axis of the driving motor 222 can be transmitted to the wheel 221.

[0140] Figure 4 FIG. 1 is a diagram showing a configuration of a supporting module 100 according to an embodiment of the present invention.

[0141] The support module 100 is configured as a bed or furniture, and an internal space A is formed at the lower end of the first frame 110. In addition, as an embodiment of the present invention, the support module 100 is configured as a bed-type furniture, and the first frame 110 includes a cushion in a form located on the upper surface of the first frame 110 with the upper end 101 and the lower end 102 as references. The first frame 110 is formed in a form in which one end of its side is opened, thereby forming an opened internal space A at the lower surface of the first frame 110. The massage device 200 is selectively inserted into the internal space A from one surface of the opened first frame 110, or selectively drawn out from the internal space A.

[0142] At the upper and lower ends in the length direction of the inner space A of the first frame 110 into which the massage device 200 is inserted, guide parts 120 are provided for guiding the movement of the massage device 200 in the width direction. The guide parts 120 are rotatably fastened to the first frame 110 and are provided at positions corresponding to at least one rail 230 located at the upper and lower ends of the back side of the massage device 200. "Fastened" may refer to the connection or combination between two components.

[0143] As shown in the figure, guide parts 120 are respectively provided at the upper end and the lower end of the first frame 110, and the central axis of the guide part 120 is located in the frame extending along the back side of the first frame 110, and more than one guide part 120 can be provided corresponding to the movement in the width direction of the massage device 200.

[0144] When the massage device 200 is introduced into the internal space A at the lower end of the first frame 110, the rails 230 located at the upper and lower ends of the back of the second frame 210 are inserted along the direction of the guide part 120 facing the first frame 110, so that the guide part 120 can move along the rails 230.

[0145] like Figure 5 As shown, when the massage device 200 is inserted into the internal space A, the rail 230 moves to a position opposite to the guide portion 120 .

[0146] In addition, the blocking portion 231 at the end of the track 230 contacts the guide portion 120 and is rotated to open, so that the track 230 moves linearly along the guide portion 120 to the inner space A. The blocking portion 231 may be configured to contact the guide portion 120 and rotate along the moving direction of the guide portion 120 and based on the second frame 210 fastened to the blocking portion 231, thereby opening the track 230.

[0147] exist Figure 6 FIG. 2 shows the structure of the guide portion 120 disposed adjacent to the end of the track 230 and the blocking portion 231 located at the open end of the track 230. Figure 7 The structure of the blocking portion 231 being rotatably opened is shown in FIG. Figure 8 2 shows a positional relationship in which the guide portion 120, the blocking portion 231, and the rail 230 are adjacent to each other.

[0148] The guides 120 located at the upper and lower ends of the lengthwise direction of the back side of the first frame 110 are arranged to face the rails 230 located at the upper and lower ends of the back side of the second frame 210. In addition, a blocking portion 231 is included at the open end of the rail 230, and the rail 230 contacts the guide 120 when the massage device 200 moves to the inner space A.

[0149] The blocking part 231 is located at the open end of the track 230 and rotates in two directions based on the upper end of the second frame 210, thereby selectively opening and closing the open end of the track 230. In addition, the blocking part 231 is located at the end of the track 230 and includes a structure of a double hinge 231a that can rotate in two directions and be opened. Therefore, when the guide part 120 moves from the outside of the track 230 to the inside of the track 230, the blocking part 231 interferes with the guide part 120, thereby rotating upward along the inside direction of the track 230.

[0150] like Figures 7 and 8As shown, the blocking portion 231 contacts the guide portion 120 , and thus when the massage device 200 moves, the blocking portion 231 interfering with the guide portion 120 is opened, and the guide portion 120 rotates and moves along the inner side of the rail 230 .

[0151] The guide part 120 may be configured as a roller rotatable along a central axis fastened to the first frame 110 , and at least one guide part 120 may be provided at the upper end 101 and the lower end 102 of the first frame 110 along the width direction.

[0152] And, if Figures 9 and 10 As shown, the anti-separation plate 232 is constructed so that one end thereof is fastened to the track 230 and is capable of rotating. When the guide portion 120 is inserted into the inner side of the track 230, the anti-separation plate 232 rotates and moves to a position where it selectively interferes with the moving path of the guide portion 120 on the inner side of the track 230.

[0153] like Fig. 9 As shown, when the massage device 200 moves to the inner space A in the width direction, the guide portion 120 passes through the blocking portion 231 and is located inside the rail 230 .

[0154] Thereafter, the guide portion 120 moves to a predetermined position inside the track 230 as the massage device 200 moves. At this time, the end of the anti-separation plate 232 away from the central axis thereof rotates in a direction away from the inside of the track 230.

[0155] In addition, if Figure 10 to Figure 11 As shown, the anti-separation plate 232 is selectively located on the moving path of the track 230. Fig.10 FIG. 2 shows a state in which the anti-separation plate 232 moves to a position for preventing the guide portion 120 from separating when the guide portion 120 is inserted into the inner side of the rail 230. Fig.11 FIG. 2 shows the anti-separation plate 232 at a point in time when the guide portion 120 inserted into the inner side of the rail 230 is separated from the rail 230 .

[0156] In which, under the condition that the first sensor 710 located on the second frame 210 contacts the third sensor 730 located at one end inside the support module 100, the motor 233 of the anti-detachment plate 232 is driven, and the anti-detachment plate 232 rotates to a position that interferes with the moving path of the guide part 120.

[0157] In detail, Fig. 9As shown, when the massage device 200 is inserted into the inner space A of the first frame 110, the first sensor 710 contacts the second sensor 720, and when the contact between the sensors occurs, the control unit drives the motor 233 located at one end of the anti-separation plate 232. Therefore, the anti-separation plate 232 rotates and moves from a position interfering with the moving path of the guide 120 to the outside of the moving path of the rail 230.

[0158] Afterwards, if Fig.10 As shown, when the first sensor 710 contacts the third sensor 730 for identifying the state of the massage device 200 being fully inserted into the internal space A, the control unit drives the motor 233 located at one end of the anti-separation plate 232, thereby rotating and moving one end of the anti-separation plate 232 to a position that interferes with the moving path of the guide unit 120.

[0159] That is, Fig. 9 As shown, when the massage device 200 is inserted into the inner space A of the first frame 110, the anti-separation plate 232 rotates to a position where it does not interfere with the moving path inside the track 230 of the guide portion 120, as shown in FIG. Fig.10 As shown, when it is recognized that the guide part 120 is inserted into the inner side of the rail 230 , the control part controls the motor 233 to rotate one end of the anti-separation plate 232 , thereby preventing the guide part 120 from being separated from the rail 230 .

[0160] On the contrary, Fig.11 As shown, when the first sensor 710 is released from the fastened state with the third sensor 730, it is recognized as a signal that the massage device 200 moves in the width direction, and the anti-separation plate 232 can be controlled to rotate toward the outside of the track 230, so that the guide part 120 can be drawn out from the track 230. And, the case where the massage device 200 is drawn out from the internal space A in the width direction is the case where the first sensor 710 is released from the fastened state with the third sensor 730.

[0161] As described above, the second sensor 720 and the third sensor 730 of the support module 100 receive the positional relationship and whether the massage device 200 is moved, and the position of the anti-separation plate 232 is controlled based on this.

[0162] Figures 12 to 15 The cleaning unit 400 included in the massage device 200 of the present invention is shown.

[0163] The cleaning unit 400 is located adjacent to the lower end of one of the opened outer surfaces of the massage device 200. The cleaning unit 400 includes a guide rail 410 fixed to the second frame 210 and a roller portion 420 that moves along the upper surface of the guide rail 410, so that the cleaning unit 400 can reciprocate along the length direction of the massage device 200. The roller portion 420 is fastened to a driving portion 450 that is located at the lower end of the guide rail 410 and is used to provide a driving force through a cleaning bracket 430, and when the rotational force of the driving portion 450 is applied to the back of the guide rail 410, the roller portion 420, the cleaning bracket 430 and the driving portion 450 move in the length direction along the guide rail 410 integrally with the cleaner body 440. Therefore, the roller portion 420 and the driving portion 450 are respectively located at the upper end and the lower end of the guide rail 410, and the cleaning unit 400 is configured to be constrained in the height direction of the guide rail 410. More preferably, the driving unit 450 includes: a driving motor that rotates with the application of power; and a rotating member 452 located at the central axis of the driving motor and in contact with the back side of the guide rail 410 through the opening of the bracket 430. Therefore, the rotating member 452 rotates in contact with the back side of the guide rail 410, thereby the cleaner body 440 and the roller part 420 fastened to the cleaning bracket 430 are integrated and move along the guide rail 410.

[0164] The cleaner body 440 includes an inflow hole and a blower configured to suck foreign matter on the floor into the inflow hole. In addition, the cleaner body 440 may include a brush 451 located at the inflow hole of the cleaner body 440 facing the floor and rotating in at least one direction.

[0165] Therefore, foreign matter flowing into the inflow hole via the brush 451 is moved to the hose or the duct by air pressure of the blower and is collected in the storage box 460 located on the upper surface of the cleaner body 440 .

[0166] like Figure 15 to Figure 16 As shown, in one embodiment of the present invention, the guide rail 410 is formed as The guide rail 410 has a shape, and one or more roller parts 420 are provided on the upper surface of the left and right sides of the partition protruding from the upper end of the guide rail 410. In addition, the roller part 420 is fastened to the cleaning bracket 430, and an opening is provided on the lower surface of the cleaning bracket 430, and the rotating member 452 of the driving part 450 extending from the cleaner body 440 contacts the lower surface of the guide rail 410.

[0167] Therefore, the roller portion 420 located on the upper surface of the guide rail 410 and the rotating member 452 of the driving portion 450 contact the upper and lower surfaces of the guide rail 410 through the cleaning bracket 430, and the rotating member 452 of the driving portion 450 and the roller portion 420 can maintain a state of constraining the upper and lower surfaces of the guide rail 410.

[0168] The massage device 200 including the cleaning unit 400 of the present invention includes a sensing unit 240. As an example, the sensing unit 240 is provided on a surface of the massage device 200 on which the cleaning unit 400 is provided, and the sensing unit 240 may include a camera for acquiring surrounding images. The camera may include a lens and an image sensor. In addition, the camera converts the image around the cleaner body 440 into an electrical signal that can be processed by the control unit, for example, the electrical signal corresponding to the upper image may be transmitted to the control unit. The electrical signal corresponding to the upper image may be used in the process of the control unit detecting the position of the cleaner body 440.

[0169] Also, the sensing unit 240 can detect obstacles such as walls, furniture, and steps in a height direction on a travel surface or a travel path of the massage device 200. Also, the sensing unit 240 can detect an inner space A located inside the support module 100.

[0170] Also, the sensing unit 240 may map a travel area or a cleaning area of ​​the massage device 200 by detecting information of a ceiling or a floor on a moving path.

[0171] In addition, the sensing unit 240 may include a terrain sensor capable of determining whether an external force is applied to one end of the massage device 200 that is led out of the internal space A. The terrain sensor includes all sensors capable of detecting an external obstacle or being energized by contact to recognize the obstacle, such as a piezoelectric sensor or a camera lens.

[0172] Figures 17 to 20 The configuration of the cleaner body 440 disposed adjacent to the floor surface and the combined relationship of the storage box 460 for storing foreign matter flowing into the suction hole of the cleaner body 440 are shown.

[0173] The cleaner body 440 includes an inflow hole facing the floor, and foreign matter flowing in from the inflow hole flows into a storage box 460 formed at a position adjacent to the guide rail 410. The storage box 460 is located at a position corresponding to an opening portion 470 formed on the outer surface of the massage device 200 in a selectively opened manner when the cleaning unit 400 is in a closed state.

[0174] Therefore, even when the massage device 200 is inserted into the internal space A or led out to the outside of the internal space A, when the cleaning unit 400 is switched to the closed state, the storage box 460 can be removed from or installed to the cleaner body 440 by opening the opening portion 470.

[0175] The upper end of the opening portion 470 is hinged to one surface of the massage module 300, and the lower end of the opening portion 470 can be rotated upward and opened with the hinged upper end as a reference. In addition, the storage box 460 moved to the position of the opening portion 470 may include a handle, so that the user can apply tension in the direction in which the storage box 460 is drawn out from the cleaner body 440.

[0176] In this way, the lower end of the front surface of the cleaning unit 400 of the present invention in the moving direction of the massage device 200 is fastened to the second frame 210, and the storage box 460 is set to move to a position corresponding to the opening 470, so that the storage box 460 can be easily separated from the cleaner body 440 when the cleaning unit 400 is closed.

[0177] Figure 21 to Figure 23 The configuration and driving diagram of a wiping unit 500 disposed adjacent to the cleaning unit 400 are shown.

[0178] exist Fig.21 , the wiping unit 500 is fastened to the second frame 210 at the inner side of the cleaning unit 400. The wiping unit 500 is disposed at a predetermined interval from one end of the massage device 200 where the cleaning unit 400 is disposed. More preferably, the wiping unit 500 is located at the rear end of the cleaning unit 400 and moves in the height direction as the actuator 530 is driven.

[0179] As shown in the figure, the wiping unit 500 includes: a wiping member 510 facing the floor; a wiping bracket 520 for the wiping member 510 to move; and a variable-length actuator 530 that is fastened to the wiping member 510 and moves the wiping member 510 along a guide groove 521 formed in the wiping bracket 520.

[0180] The wiping bracket 520 includes a guide groove 521, and the rod 510a located at the wiping member 510 is inserted into the guide groove 521. The guide groove 521 is formed along the oblique direction so that the rod 510a moves toward the lower end in the height direction as the length of the actuator 530 increases. Therefore, when the actuator 530 extends in the length direction, the rod 510a fastened to the wiping member 510 moves to the end of the lower end of the guide groove 521, and the wiping member 510 moves downward in the height direction. More preferably, the angle of the guide groove 521 can be set to: when the wiping member 510 moves to the end of the lower end of the guide groove 521, the wiping member 510 is in close contact with the floor.

[0181] like Fig. 22 As shown, the rear end of the actuator 530 is fastened to the second frame 210 in a manner that it can rotate and move in the up and down directions. In addition, when the actuator 530 is deployed, the rod 510a fastened to the wiping member 510 moves to the end of the lower end of the guide groove 521, so that the wiping member 510 is located at the lowest point.

[0182] In addition, the wiping member 510 is disposed at the rear end of the cleaning unit 400 located at one surface of the massage device 200 led out from the inner space A. This can define a positional relationship so that the wiping member 510 can contact the floor in a state where foreign matter is removed by the cleaning unit 400 .

[0183] like Fig.23 As shown, the actuator 530 contracts, so that the wiping member 510 moves to the upper end in the height direction, and the wiping member 510 fastened to the front end of the actuator 530 moves to the inner end along the guide groove 521 of the wiping bracket 520. In this case, the rod 510a of the wiping member 510 moves to the inner end of the guide groove 521, and the wiping member 510 is located at the upper end in the height direction in an integrated manner, thereby returning to a position separated from the floor. In addition, the other end of the actuator 530 fastened to the wiping member 510 can be rotated based on the end of the actuator 530 fastened to the second frame 210. Therefore, the wiping member 510 and the other end of the actuator 530 are integrally rotated and moved in the height direction.

[0184] The case where the wiping member 510 is separated from the floor may include a case where the wiping unit 500 is located further forward (front end) than the cleaning unit 400 on the moving path of the massage device 200. Therefore, considering the moving path of the massage device 200, the actuator 530 moves in the contraction direction so that the wiping unit 500 is retained on the second frame 210. More preferably, in one embodiment of the present invention, the actuator 530 contracts under the condition that the wiping unit 500 located at the rear end of the cleaning unit 400 moves toward the front end of the massage device 200, so that the wiping member 510 can be separated from the floor.

[0185] Fig.24 FIG. 2 shows a driving unit according to another embodiment of the present invention.

[0186] As shown in the figure, a plurality of wheels 221 are provided at a position facing the floor at the lower end of the second frame 210 of the massage device 200. And, at least one wheel 221 may be fastened to the driving motor 222 and receive driving force.

[0187] In the embodiment, a pair of wheels 221 corresponding to each other in the width direction of the second frame 210 are located at both ends of one driving shaft 221a, and a gear and a driving motor 222 located at the driving shaft 221a apply a driving force to the driving shaft 221a. That is, the driving shaft 221a located at the front wheel or / and the rear wheel of the massage device 200, and at least one driving motor 222 fastened to the driving shaft 221a, are included, so that the plurality of wheels 221 located at the driving shaft 221a can be rotated by the driving force of the driving motor 222.

[0188] In this case, by a pair of wheels 221 rotating along the driving shaft 221a, the massage device 200 can be front-wheel driven in the direction of being led out of the internal space A, or the massage device 200 can be rear-wheel driven in the direction of being led out of the internal space A selectively.

[0189] In addition, when driving force is applied to a pair of wheels 221 through the driving shaft 221a, the massage device 200 can be linearly moved. Also, each wheel 221 at both ends of the driving shaft 221a may include a differential gear to control the amount of rotation, thereby allowing the massage device 200 to pivot.

[0190] Figure 25 to Figure 27 4 shows a plurality of sensors for measuring the movement of the massage device 200 in the length direction according to an embodiment of the present invention.

[0191] The massage device 200 placed in the inner space A of the support module 100 includes a plurality of sensors for measuring the movement in the length direction between the massage device 200 and the support module 100. Preferably, the massage device 200 includes a first sensor 710 provided on the massage device 200, and includes a plurality of sensors provided on the first frame 110 facing the moving path of the first sensor 710. As an example, the massage device 200 may include: a second sensor 720 facing the first sensor 710 when the massage device 200 is transformed from a state of overlapping with the first frame 110 to a state of maximally protruding; and a third sensor 730 located at a position corresponding to the first sensor 710 when the massage device 200 is fully inserted into the inner side of the inner space A. That is, the second sensor 720 and the third sensor 730 are located on the first frame 110, and are sequentially arranged at positions facing the moving path of the first sensor 710.

[0192] like Fig. 27 As shown, the second sensor 720 and the third sensor 730 are arranged to face the first sensor 710 located at the massage device 200, and when the first sensor 710 is separated from the second sensor 720 and the third sensor 730 by a predetermined distance and moves, interference is generated in the measurement area of ​​the second sensor 720 or the third sensor 730. Accordingly, the control part can recognize the position of the first sensor 710 according to the change of the signal of the second sensor 720 and the third sensor 730. That is, the control part can recognize the movement of the first sensor 710 according to the signal of the second sensor 720 and the third sensor 730 located at the first frame 110, and accordingly, the movement amount of the massage device 200 in the width direction within the internal space A can be measured.

[0193] As another embodiment, the second sensor 720 and the third sensor 730 in contact with the first sensor 710 may be composed of a magnetic sensor, a capacitive touch sensor, a contact detection sensor, etc. In addition, at least one of the first sensor 710 or the sensor located in the first frame 110 may be composed of a conductive sensor, and the other sensor may be composed of a conductor capable of being electrically connected to the conductive sensor.

[0194] like Figure 25 to Figure 26 As shown, the first sensor 710 is configured to face the second sensor 720 , and when a signal indicating that the third sensor 730 is in contact with the first sensor 710 is applied, the control unit determines that the massage device 200 is completely inserted into the internal space A of the support module 100 .

[0195] In contrast, when the massage device 200 is inserted, the third sensor 730 is measured to face the first sensor 710, and then when the first sensor 710 moves to a position facing the second sensor 720, the control unit can determine that the massage device 200 is moving out of the internal space A of the first frame 110.

[0196] In this way, including the second sensor 720 and the third sensor 730 that can measure the moving path of the first sensor 710 and are fixed to the first frame 110, the control unit can receive signals from each sensor in turn, thereby determining the insertion state or the extraction (pulling out) state of the massage device 200.

[0197] In addition, the control part may judge the insertion state or the withdrawal state of the massage device 200 and compare it with the driving amount of the driving unit 220, and when the driving amount of the driving unit 220 is different from the movement amount in the width direction of the massage device 200, the compensation control of the driving amount of the driving unit 220 may be performed. Alternatively, the movement amount of the massage device 200 set according to the same driving amount of the driving unit 220 may be compensated by feedback control.

[0198] In this way, the control part may be configured to compensate for the set driving condition by comparing the movement amount and the driving amount of the massage device 200 with the actual movement amount of the first sensor 710 .

[0199] Figure 28 to Figure 32 2 is a diagram illustrating a track 1100 located at the support module 100 and used to guide the movement of the massage device 200 according to still another embodiment of the present invention.

[0200] like Fig.31 As shown, in this embodiment, the track 1100 is located inside the first frame 110, and the roller 1000 located on the second frame 210 is inserted inside the track 1100 and moves along the track 1100. In addition, in the initial combination step, an open hole 1100a is provided at the upper end of the track 1100, and the roller 1000 can be inserted and fastened to the hole 1100a.

[0201] The rail 1100 is provided at the upper and lower ends of the first frame 110 along the width direction. In addition, both ends of the rail 1100 are closed, so that the movement of the roller 1000 moving along the inner side of the rail 1100 in the length direction can be restricted.

[0202] Therefore, the massage device 200 can move along the length direction of the track 1100 , and the roller 1000 can move along the length direction of the track 1100 , so that the massage device 200 can move linearly based on the support module 100 .

[0203] like Fig.29 As shown, an open hole 1100a is provided on the upper surface of the rail 1100 arranged at the upper and lower ends of the first frame 110 along the width direction, and the roller 1000 protruding from the outer side surface of the second frame 210 can be inserted into the inner side of the open hole 1100a of the rail 1100.

[0204] like Fig.30 As shown in the side cross-sectional view, the roller 1000 inserted into the track 1100 can move in the length direction along the track 1100 in a state of being restrained up and down inside the track 1100.

[0205] In order to prevent the massage device 200 from being separated from the track 1100, a cover 1200 is included, and the cover 1200 is configured to wrap the opened hole 1100a formed in the track 1100. More preferably, as Fig.32 As shown, the cover 1200 may be configured to be fixed to the first frame 110 by bolts in a state where the roller 1000 is inserted inside the rail 1100 , and the cover 1200 may be configured such that its end is bent downward to have the same shape as the cross-sectional shape of the rail 1100 .

[0206] According to another embodiment of the present invention, the massage device 200 can only move linearly along the length direction of the track 1100, and both ends of the track 1100 are closed to limit the movement of the roller 1000 in the length direction, thereby preventing the massage device 200 from detaching to the outside of the support module 100.

[0207] Figure 33 to Figure 35 FIG. 2 shows the structure of an alignment unit 600 capable of determining the alignment relationship between the massage device 200 and the support module 100 according to an embodiment of the present invention.

[0208] According to an embodiment of the present invention, the alignment unit 600 includes sensor parts 630 located at the upper end 101 and the lower end 102 of the support module 100 .

[0209] The sensor unit 630 may include magnetic members 111 located at the upper and lower ends of the first frame 110 and at both ends of the internal space A, and accordingly, includes contact sensors 632 located at the upper and lower ends of the massage device 200. That is, when the massage device 200 is inserted into the internal space A at the lower end of the support module 100 after being drawn out, the sensor unit 630 may determine the alignment relationship between the second frame 210 and the internal space A.

[0210] Among them, Fig.35As shown, when the contact sensors 632 located at the upper and lower ends of the second frame 210 contact each other with the magnetic components 111 located at the upper and lower ends of the first frame 110, the control unit determines that the massage device 200 has achieved alignment for introduction into the internal space A, and controls the massage device 200 to be inserted into the internal space A by controlling the drive unit 220.

[0211] In contrast, when it is determined that at least one of the contact sensors 632 located at the second frame 210 is not in contact with the magnet member 111 , the control part resets the alignment of the massage device 200 .

[0212] As an example of the present invention, when it is determined that the massage device 200 is not aligned with the internal space A, the alignment state of the massage device 200 is determined by the sensing unit 240, and the massage device 200 is moved to a position aligned with the internal space A in the width direction by controlling the driving unit 220.

[0213] The sensor part 630 is configured to determine whether the upper and lower ends of the second frame 210 are completely aligned with the internal space A of the first frame 110, and can determine whether the second frame 210 is obliquely inserted into the internal space A of the first frame 110 or whether the second frame 210 is misaligned with the internal space A. In this case, the control part can control the alignment state of the second frame 210, and accordingly, the massage device 200 can be placed in the internal space A without damage.

[0214] As another embodiment of the sensor unit 630 of the present invention, Fig.36 and Fig.37 As shown, pressure sensors 631 are provided, and the pressure sensors 631 are located at the edges of the upper and lower ends of one surface opened in the inner space A of the first frame 110 .

[0215] The pressure sensor 631 protrudes outward in a manner facing the direction in which the massage device 200 is introduced into the lower end of the first frame 110. Also, the pressure sensor 631 is configured to extend along the height direction of the first frame 110. Also, one or more rows of pressure sensors 631 may be located at the upper end of the first frame 110.

[0216] The pressure sensor 631 may transmit the situation in which pressure is applied from the outside as a signal to the control unit, and the control unit may stop the driving unit 220 of the massage device 200 according to the transmitted signal.

[0217] Therefore, when the upper and lower ends of the first frame 110 provided with the pressure sensor 631 come into contact with the massage device 200, the control part receives a signal from the pressure sensor 631 and switches the driving unit 220 of the massage device 200 to an off state. Also, the control part receives the position of the pressure sensor 631 applying the signal in the upper or lower end of the first frame 110 and resends the alignment signal of the massage device 200 based thereon.

[0218] like Fig.38 As shown, the pressure sensor 631 located at the upper end of the first frame 110 can convert the contact with the massage device 200 into a signal and send it to the control unit, such as Fig.39 As shown, the contact with the pressure sensor 631 located at the lower end of the first frame 110 may be converted into a signal and sent to the control part.

[0219] In this way, the pressure sensor 631 is located outside the first frame 110 at the front end of the massage device 200 inserted into the internal space A, and when the massage device 200 contacts the upper end or the lower end of the first frame 110, the driving of the massage device 200 can be stopped. Therefore, according to the present invention, when the massage device 200 is inserted into the internal space A of the first frame 110, the alignment relationship of the massage device 200 can be determined, and accordingly, damage caused by continuous driving of the massage device 200 can be reduced.

[0220] In addition, the control unit determines whether the massage device 200 is inserted into the internal space A in a misaligned state, and realigns the massage device 200 along the length direction of the first frame 110. Also, the control unit may receive position information of the massage device 200 through the sensing unit 240, and control the driving unit 220 to compensate for the positional relationship between the internal space A and the massage device 200.

[0221] Figures 40 to 44 The alignment unit 600 is shown to facilitate mechanical insertion of the massage device 200 into the inner space A.

[0222] At least one alignment unit 600 is located at the upper or lower end of the first frame 110 and expands the width of the end portion of the inner space A in the length direction when the massage device 200 is inserted into the inner space A again after being drawn out (pulled out).

[0223] The alignment unit 600 includes a cover 610 located at one end of the first frame 110, and the cover 610 is rotated and opened by a guide motor 620. More preferably, when the massage device 200 that has been led out to the outside of the internal space A moves to a position adjacent to the lower end of the first frame 110, the control unit drives the guide motor 620 to rotate and open the cover 610 to the outside of the internal space A. Therefore, the massage device 200 can be inserted into the internal space A in a state where the introduction port of the internal space A is relatively widened.

[0224] exist Fig.40 2 shows a state where the massage device 200 is placed on the support module 100 in such a manner that at least a portion thereof overlaps with the inner space A of the support module 100 .

[0225] As shown in the figure, in a state where the massage device 200 is drawn out from the internal space A or at least a portion of the massage device 200 is inserted into the internal space A, the cover 610 is switched to a closed state. More preferably, the cover 610 may be configured to have a surface parallel to one surface of the lower end of the first frame 110. Therefore, the cover 610 is not rotated and unfolded to the outside, and is configured not to be exposed to the outside in a state parallel to one surface of the lower end of the first frame 110.

[0226] On the contrary, Fig.41 and Fig.42 As shown, when the massage device 200 is inserted into the inner space A of the first frame 110 again after being drawn out, the control unit rotates the cover 610 to expand the space of one open surface of the inner space A.

[0227] As shown in the figure, the cover 610 is configured to rotate one end thereof toward the outer side of the lower end of the first frame 110 by receiving the driving force of the guide motor 620. More preferably, the end adjacent to the massage device 200 is rotated and opened toward the outer side of the first frame 110. Therefore, the massage device 200 can be inserted into the inner space A of the first frame 110 having a wider introduction port.

[0228] Figure 43 to Figure 44 The fastening relationship of the cover portion 610 and the guide motor 620 as the alignment unit 600 is shown.

[0229] As an embodiment of the present invention, the cover 610 is configured as a surface forming an inlet of the inner space A at the lower end of the first frame 110. In addition, the cover 610 may be fastened to the guide motor 620 fixed to the back of the first frame 110 through a bracket 610a. Therefore, the guide motor 620 is controlled to receive a signal from the control unit and selectively open the cover 610.

[0230] In addition, the control unit is configured to rotate and open the cover 610 to the outside of the first frame 110 by driving the guide motor 620 when the massage device 200 is inserted into the internal space A.

[0231] The control unit executes a control command for reinserting the massage device 200 into the internal space A, and accordingly controls the driving of the driving unit 220. At this time, the control unit predicts the moving path of the massage device 200, and when the massage device 200 moves to a position adjacent to the internal space A of the first frame 110, the cover 610 is rotated and opened to the outside of the first frame 110 by driving the guide motor 620.

[0232] The cover 610 receives the rotation force of the guide motor 620, thereby opening to the outside of the first frame 110. In addition, the cover 610 is fastened to the guide motor 620 through a bracket, and the cover 610 integrally rotates along the rotation direction of the bracket 610a connected to the central axis of the guide motor 620.

[0233] Above, the embodiments of the present invention are described with reference to the accompanying drawings, but those skilled in the art will understand that the present invention can be implemented in other specific forms without changing its technical ideas or essential features. Therefore, it should be understood that the embodiments described above are exemplary in all aspects and not restrictive.

Claims

1. A retractable massage device, characterized in that: include: A support module capable of supporting a part of a user's body, wherein an internal space is formed at a lower end of the support module; a massage device capable of being inserted into or led out of the internal space and comprising a massage module that reciprocates along the length direction of the massage device; as well as The cleaning unit is arranged on the massage device and is used for sucking in foreign matter.

2. The storage type massage device according to claim 1, characterized in that: The massage device is provided with a driving unit, and the driving unit is used to insert the massage device into the internal space or lead the massage device out from the internal space.

3. The storage type massage device according to claim 2, characterized in that: The driving unit comprises: a plurality of wheels mounted on the lower end of the massage device; and At least one driving motor is used to drive the plurality of wheels.

4. The storage type massage device according to claim 3, characterized in that: The at least one driving motor includes a plurality of driving motors installed on any one of a plurality of first wheels and a plurality of second wheels, and based on the direction in which the massage device is led out of the inner space, the plurality of first wheels correspond to the front wheels, and the plurality of second wheels correspond to the rear wheels. The rotation speeds of the plurality of drive motors can be controlled to be different from each other.

5. The storage type massage device according to claim 1, characterized in that: Also includes: a first frame, for supporting the support module, and a second frame, used to support the massage device; The cleaning unit is arranged on the back side of the second frame.

6. The storage type massage device according to claim 3, characterized in that: The cleaning unit is arranged along the length direction, and moves between the plurality of wheels of the massage device.

7. The storage type massage device according to claim 1, characterized in that: The cleaning unit is disposed at a front end of the massage device in a direction leading out from the internal space.

8. The storage type massage device according to claim 1, characterized in that: The cleaning unit comprises: A guide rail extending along the length direction of the massage device; One or more roller parts are located on the upper surface of the guide rail; A cleaning bracket extending from the lower end of the guide rail in a height direction and connected to the roller portion; a cleaning device body connected to the cleaning support and comprising an inflow hole; and The driving part penetrates the cleaning bracket and applies a driving force to the lower surface of the guide rail.

9. The storage type massage device according to claim 8, characterized in that: The movement of the roller part and the driving part in the height direction of the guide rail is restricted by the cleaning bracket.

10. The storage type massage device according to claim 8, characterized in that: The guide rail includes a spacer protruding from an upper end in a height direction, The one or more roller parts are in contact with the upper surface of the guide rail at both sides of the spacer.

11. The storage type massage device according to claim 1, characterized in that: The cleaning unit comprises: a storage box for storing foreign matter sucked by the cleaning unit, and an opening portion formed in an open manner at one side of the massage device to disassemble and install the storage box; When the driving of the cleaning unit is turned off, the storage box moves to a position corresponding to the opening.

12. The storage type massage device according to claim 1, characterized in that: A wiping unit extending along the length direction is arranged on the lower surface of the massage device.

13. The storage type massage device according to claim 12, characterized in that: The wiping unit is located at a rear end in a width direction of the cleaning unit.

14. The storage type massage device according to claim 12, characterized in that: The wiping unit comprises: A wiping member facing the floor, a wiping support connected to the massage device and used to guide the movement of the wiping member, and an actuator connected to the wiping member; The wiping member moves in a height direction as the actuator expands and contracts in the length direction.

15. The storage type massage device according to claim 14, characterized in that: The wiping unit also includes: a rod fastened to the wiping member, and a guide groove, located on the wiping bracket, wherein the rod is inserted into the guide groove; The rod moves along the guide groove as the actuator expands and contracts in the longitudinal direction.

Images