Massage device and control method of massage device

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; the arm massage part is arranged on the side part of the body massage part; an arm drive unit that rotates the arm massage unit in one or more directions; a body drive unit that changes the position or posture of the body massage unit; and a control section that, when execution of the standing mode is started, controls the body driving section such that the body massaging section stands forward, and controls the arm driving section such that an angle of the arm massaging section is formed as a reference angle.

Description

Technical Field

[0001] The present invention relates to a massage device including a rotatable arm massage part, and more particularly, to a massage device providing a combination standing mode, which can more effectively achieve the convenience and safety of a user when leaving a seat. Background Art

[0002] Massage is a method of applying or guiding various mechanical stimuli such as kneading, pressing, stretching, patting or movement guidance to the user's body, thereby regulating the user's body rhythm, thereby improving blood circulation and relieving fatigue.

[0003] As eating habits, lifestyles, activity areas, life styles, etc. change, and interest in health and work-life balance increases, the demand for massage devices or massage equipment (hereinafter collectively referred to as "massage devices") for providing muscle relaxation, tension relief, fatigue recovery, stress relief, etc. is increasing.

[0004] In recent years, massage devices have gone beyond simply providing massage to the user's body and have also achieved characteristics as electronic devices for providing various additional functions, convenience functions, medical assistance functions, and the like.

[0005] As various functions and modules are applied, recent massage devices have a depth and size that can fully accommodate a part of the user's body or the whole body. Therefore, it is accompanied by considerable inconvenience when leaving the seat (leaving the massage device) after finishing the massage, taking a rest, etc.

[0006] In particular, for the elderly or users with physical disabilities, the action of leaving the massage device is not easy in itself, and safety accidents such as injuries may occur in the process.

[0007] Although some massage devices have the function of adjusting the angle, such a function is mainly used for reclining the backrest by rotating it backward. Therefore, although it can provide advantages such as enabling the user to receive massage in a comfortable posture, it cannot provide the user with convenience when leaving the massage device. Summary of the invention

[0008] Problem that the invention aims to solve

[0009] The present invention is proposed under the above background, and its purpose is to provide a massage device that utilizes the organic action relationship of multiple massage parts used to constitute the massage device to further improve the convenience of the user when leaving the seat, and can effectively prevent safety accidents that may occur when the user leaves the seat.

[0010] Another object and advantage of the present invention can be understood through the following description and will be more clearly understood through the embodiments of the present invention.In addition, the objects and advantages of the present invention can be achieved through the configurations and combinations of configurations shown in the claims.

[0011] The technical problems to be solved by the present invention are not limited to the above contents, and those skilled in the art can clearly understand other problems not mentioned from the description of the invention described below.

[0012] Means used to solve problems

[0013] According to an embodiment of the present invention for achieving the above-mentioned purpose, the massage device includes: a body massage part for massaging at least a part of a user's body; an arm massage part arranged on the side of the body massage part; an arm driving part for rotating the arm massage part in one or more directions; a body driving part for changing the position or posture of the body massage part; and a control part, which controls the body driving part to make the body massage part stand forward when starting to execute the standing mode, and controls the arm driving part to make the angle of the arm massage part form a reference angle.

[0014] The reference angle according to the present invention may be an angle when the arm massage part is horizontal to the ground. In addition, the reference angle according to the present invention is preferably configured to be variable according to user identification information or the user's selection.

[0015] Furthermore, according to the present invention, the control unit controls the arm driving unit so that, in the standing mode, the angle of the arm massaging unit becomes the reference angle during the process in which the posture of the body massaging unit is changed to the standing posture.

[0016] Furthermore, the control unit according to the present invention may control the time point when the standing posture of the body massage part ends and the time point when the angle of the arm massage part becomes the reference angle to correspond to each other.

[0017] Specifically, the control part according to the present invention may be configured to determine the rotation angular velocity of the arm massage part in the standing mode by the following formula.

[0018]

[0019] In the above formula, W A is the rotational angular velocity of the arm massage part in the standing mode, A A is the angular displacement of the arm massage part to form the reference angle, W Bis the rotational angular velocity of the body massage part in the standing mode, A B It is the angular displacement amount of the body massaging part in order to form the standing posture of the body massaging part.

[0020] Preferably, the angular displacement amount of the arm massage part in the standing mode is configured to be greater than the angular displacement amount of the body massage part in the standing mode.

[0021] According to an implementation manner, the massage device according to an embodiment of the present invention further includes: a leg massage part, which is arranged below the body massage part; and a leg driving part, which is used to adjust the length or angle of the leg massage part.

[0022] In this case, when the standing mode is performed, the control part according to the present invention may be configured to control the leg driving part so that the lower part of the leg massaging part is horizontal to the ground.

[0023] In addition, when the standing mode starts to be executed, the control unit according to the present invention can be configured to preferentially execute a reference position recovery mode, in which the length or angle of the leg massage part is controlled to be a first reference value, or the angle of the arm massage part is controlled to be a second reference value.

[0024] Preferably, the massage device according to an embodiment of the present invention may further include a sensing sensor, and the sensing sensor is used to sense the position of the leg massage part or the arm massage part.

[0025] In this case, the control unit according to the present invention performs the control operation in the standing mode only when the reference position of the leg massage unit or the arm massage unit is confirmed to be restored using the sensing signal received from the sensing sensor.

[0026] The massage device according to an embodiment of the present invention may further include a first airbag disposed at the arm massage part. In this case, when the standing mode is executed, the control part according to the present invention may control the first airbag to expand.

[0027] Furthermore, when the angle of the arm massage part in the standing mode is formed to the reference angle, or the posture of the body massage part is changed to a standing posture, the control part according to the present invention may control the first airbag to contract.

[0028] The massage device according to an embodiment of the present invention may further include a second airbag disposed at the leg massage part. In this case, when the standing mode is executed, the control part according to the present invention may control the second airbag to expand.

[0029] In addition, in the standing mode, when the lower portion of the leg massage part is horizontal to the ground, or the body massage part is changed to a standing posture, the control part according to the present invention may control the second airbag to shrink.

[0030] According to another aspect of the present invention, a control method for a massage device is a method for controlling a massage device, wherein the massage device comprises: a body massage part for massaging at least a part of a user's body; an arm massage part arranged on a side of the body massage part; an arm driving part for rotating the arm massage part in one or more directions; and a body driving part for changing a position or posture of the body massage part. The control method may include: a signal input step for inputting a start signal for a mode in which the body massage part stands forward, i.e., a standing mode; and a control step for controlling the body driving part to make the body massage part stand forward, and for controlling the arm driving part to form an angle of the arm massage part as a reference angle.

[0031] Effects of the Invention

[0032] In the case of applying a massage device of an embodiment of the present invention, when the standing mode is started, not only the posture or position of the body massage part will be adjusted so that the body massage part stands forward, but also the angle of the arm massage part or the leg massage part will be adjusted to the angle or posture that is most suitable for the user to perform the standing action, thereby further improving the convenience of the user during the leaving process.

[0033] In the case of applying the massage device of the present invention, when the standing mode is executed, the angle of the arm massage part will be adjusted to a horizontal direction, etc., thereby not only being able to effectively prevent the user's upper body from tilting forward, but also the user can naturally apply the minimum force for the standing action through the physical support of the arm massage part, thereby guiding the user's leaving process to become easier and more stable.

[0034] When applying a massage device according to an embodiment of the present invention, the expansion and contraction of the airbags provided in the arm massage part or the leg massage part are controlled in a time series, thereby being able to firmly support the user's body, or release the support for the user's body, thereby being able to achieve a standing mode more safely and stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The following drawings attached to this specification illustrate preferred embodiments of the present invention, and together with the specific description of the invention to be described later, serve to more effectively understand the technical ideas of the present invention. Therefore, the present invention should not be construed as being limited to the matters recorded in these drawings.

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

[0037] Figure 2 A diagram for explaining a massage device according to an embodiment of the present invention.

[0038] Figure 3 is a diagram showing an external device that can communicate with a massage device according to an embodiment of the present invention.

[0039] Figure 4 1 is a diagram for explaining a standing assist function of a massage device according to an embodiment of the present invention.

[0040] Figure 5 FIG. 1 is a diagram showing a support structure of a massage device according to an embodiment of the present invention.

[0041] Fig. 6A and Figure 6B FIG. 1 is a diagram showing a partial structure of a support structure of a massage device according to an embodiment of the present invention.

[0042] Figure 7 FIG. 1 is a diagram for explaining a state of a massage device according to an embodiment of the present invention.

[0043] Figure 8 1 is a rear perspective view showing a massage device in a standing assist state according to an embodiment of the present invention.

[0044] Fig. 9 Part (A) and part (B) are rear views showing a normal state and a standing assist state of the massage device according to an embodiment of the present invention.

[0045] Fig.10 is a side view showing a normal state of a massage device according to an embodiment of the present invention.

[0046] Fig.11 2 is a side view showing a standing assist state of a massage device according to an embodiment of the present invention.

[0047] Fig.12 1 is a perspective view showing a shielding member constituting a massage device according to an embodiment of the present invention.

[0048] FIG. 13A to FIG. 13C The diagrams respectively show a normal state, a standing assist state, and a reclining state of a massage device according to an embodiment of the present invention.

[0049] Fig.14A and Fig. 14B FIG. 1 is a diagram showing a massage device having a rotatable arm massage part according to an embodiment of the present invention.

[0050] Fig.151 is a perspective view showing a connection structure between an arm massage part and a main frame of a massage device according to an embodiment of the present invention.

[0051] Fig.16 It is shown Fig.14A and Fig. 14B A side view of the connection structure between the arm massage part and the main frame of the massage device is shown.

[0052] Fig.17 It is shown Fig.14A and Fig. 14B A three-dimensional view of the arm massage portion of the massage device shown.

[0053] Fig.18A It is shown Fig.14A and Fig. 14B An exploded perspective view of the arm massage portion of the massage device shown.

[0054] Fig.18B It is shown Fig.14A and Fig. 14B The illustrated massage device is an exploded perspective view of a partial structure of a rotating module constituting an arm massage part.

[0055] Fig.19 It is shown Fig.14A and Fig. 14B FIG. 2 is a diagram showing an operation example of the arm massage part of the massage device shown.

[0056] Fig. 20 1 is a side view showing a state in which the leg massage part of the massage device according to an embodiment of the present invention rotates independently.

[0057] Fig.21 1 is a diagram showing a state in which a leg massage part of a massage device according to an embodiment of the present invention is connected to a leg connection frame.

[0058] Fig. 22 and Fig.23 is a block diagram showing a detailed structure of a massage device according to an embodiment of the present invention.

[0059] Fig.24 It is a flowchart for explaining a processing procedure based on the behavior structure of the present invention according to an embodiment of the present invention.

[0060] Fig.25 is a flowchart for explaining a processing procedure according to an embodiment of the present invention.

[0061] Fig.26 is a flowchart for explaining a processing procedure according to another embodiment of the present invention.

[0062] Fig. 27This is a flow chart for explaining an embodiment of the present invention in which an air bag is controlled.

[0063] Fig.28 and Fig.29 This is a diagram for explaining the relationship between actions based on the standing mode, etc.

[0064] Description of Reference Numerals

[0065] 200: Massage device

[0066] 210: Body massage section 220: Arm massage section

[0067] 221: The First Airbag

[0068] 230: Arm drive unit

[0069] 230A: first arm driving unit 230B: second arm driving unit

[0070] 240: Body drive unit 250: Control unit

[0071] 260: Leg Massage

[0072] 261: Second Airbag

[0073] 270: Leg drive unit

[0074] 270A: first leg driving unit 270B: second leg driving unit DETAILED DESCRIPTION

[0075] Hereinafter, the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, the terms or words used in this specification and claims should not be interpreted as limited to the common or dictionary meanings, but should be interpreted as the meanings and concepts that conform to the technical ideas of the present invention based on the principle that the inventors appropriately define the concepts of the terms in order to explain their own inventions in the best way.

[0076] Therefore, the embodiments described in this specification and the structures shown in the drawings are only the most preferred embodiments of the present invention and do not represent the technical ideas of the present invention. It should be understood that when submitting this application, there may be various equivalents and modifications that can replace them.

[0077] When it is mentioned that a certain component is “connected” or “coupled” to another component, it should be understood that it can be directly connected or coupled to the other component, or other components may be present between the two components.

[0078] On the contrary, when it is mentioned that a certain component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components between the two. Other expressions used to describe the relationship between components should also be interpreted in this way.

[0079] The terms used in this specification are only used to describe specific embodiments and are not intended to limit the content of the present invention. Unless otherwise clearly indicated in the context, expressions in the singular include expressions in the plural.

[0080] The terms "including" or "having" in this specification are used to specify the existence of the described features, numbers, steps, actions, constituent elements, components or their combinations. Therefore, it should be understood that these terms do not preclude the existence or additional possibility of one or more other features, numbers, steps, actions, constituent elements, components or their combinations.

[0081] Unless otherwise defined, all terms used in this specification, including technical or scientific terms, have the same meanings as those commonly understood by those skilled in the art. Pre-defined terms commonly used should be interpreted as having meanings consistent with the context of the relevant technology and should not be interpreted as ideal or overly formal meanings unless explicitly defined in this specification.

[0082] The actuator in this specification refers to a structure that can provide driving force. For example, the actuator may include a motor, a linear motor, an electronic motor, a direct current (DC) motor, an alternating current (AC) motor, a linear actuator, an electric actuator, etc., but is not limited thereto.

[0083] Below, refer to Figures 1 to 21 First, the details of the present invention including the basic embodiment and driving principle of the present invention will be described, and the details of the embodiment of the present invention including providing a combined standing mode will be described later.

[0084] First, refer to Figures 1 to 13C The overall structure of the massage device according to the present invention and the principle of realizing the standing mode are described, and then, with reference to FIG. 14A to FIG. 21 Content that explains in detail how the arm massage section, etc. works.

[0085] Figure 1 FIG. 1 is a diagram showing a massage device according to an embodiment of the present invention.

[0086] The massage device 1000 according to an embodiment of the present invention may include: a body massage part 1100, which forms an area for accommodating at least a part of the user's body and massages the user's body (or massages at least a part of the body); a main body 1020, including at least one of an arm massage part 1200 for massaging the user's arms and a leg massage part 1300 for massaging the user's legs; and a base part 1010, which supports the main body 1020 on the ground.

[0087] The body massage part 1100 can support the user's body in a state where the user can sit comfortably, and the body massage part 1100 can include: a seat part 1101 supporting the user's buttocks and thighs; and a backrest part 1102 supporting the user's back.

[0088] The arm massage part 1200 may be disposed on at least one of one side and the other side of the body massage part 1100. The arm massage part 1200 may be disposed on both sides of the body massage part 1100 and massage both sides of the user's arms. For the arm massage part 1200, the arm massage part 1200 disposed on the left side and the arm massage part 1200 disposed on the right side may operate independently of each other based on the control of the control part for controlling the massage device 1000.

[0089] The leg massage part 1300 may be disposed at the lower part of the body massage part 1100 and / or the lower front part of the massage device 1000. The leg massage part 1300 configured to massage both sides of the user's legs may be controlled by a control unit that controls the massage device 1000 so that the leg massage parts disposed on the left side and the leg massage parts disposed on the right side can be operated independently of each other.

[0090] The body massaging part 1100 may provide massage to at least a portion of the user's body. For example, the body massaging part 1100 may massage at least a portion of at least one of the upper body and the lower body of the user.

[0091] The body massage part 1100 may include: a massage module 100 (refer to Figure 4 ), providing a massage function to at least a part of the user's body; an audio output module 1120, used to provide the user with any form of audio output; a supporting structure, constituting the frame of the body massage part 1100 and supporting the user's body; and a user input part 1140, used to receive any form of input from the user.

[0092] The above structures included in the body massage part 1100 are merely exemplary embodiments. In addition to the above structures, the body massage part 1100 may further include various structures.

[0093] In addition, if Figure 1 The shape and structure of the massage device 1000 shown are merely examples, and various forms of the massage device 1000 may also fall within the scope of the present invention without departing from the scope of the present invention as defined by the appended claims.

[0094] The body massage part 1100 may form a space of any shape for accommodating the user. The body massage part 1100 may have a space of a shape corresponding to the shape of the user's body. Figure 1As shown, the body massage part 1100 may be formed as a sitting type composed of a seat part 1101 for accommodating the whole body or a part of the body of the user and a backrest part 1102 .

[0095] The portion of the body massage part 1100 that contacts the ground may include any material or any member (eg, an anti-slip pad, etc.) for enhancing friction, and may include wheels for enhancing the mobility of the massage device 1000 .

[0096] At least a portion of the body massage part 1100 can slide. For example, when the body massage part 1100 starts massaging, at least a portion of the body massage part 1100 can slide forward. In addition, the body massage part 1100 can be tilted backward. As a result, the body massage part 1100 can provide massage in a state of being tilted backward.

[0097] According to an embodiment of the present invention, the massage device 1000 may include at least one airbag (not shown). The airbag may be located on at least one of the user's shoulder portion, pelvic portion, leg massage portion 1300, and arm massage portion 1200, but is not limited thereto and may be configured on various portions of the massage device 1000.

[0098] The massage device 1000 may include an air supply unit, and the air supply unit can inflate the airbag by supplying air to the airbag. The air supply unit may be located inside the body massage unit 1100 and / or the leg massage unit 1300. Alternatively, the air supply unit may be located outside the massage device 1000.

[0099] The leg massage part 1300 may include a receiving space for receiving the user's legs and massage at least a portion of the user's legs to provide leg massage to the user. For example, the leg massage part 1300 may include: a calf massage part for massaging the user's calves; and / or a foot massage part for massaging the user's feet.

[0100] The length of the leg massage part 1300 can be adjusted according to the user's physical characteristics. For example, when a tall user uses the massage device 1000, the length of the leg massage part 1300 needs to be lengthened due to the long length of the calf. In addition, when a short user uses the massage device 1000, the length of the leg massage part 1300 needs to be shortened due to the short length of the calf. Therefore, the leg massage part 1300 can provide a leg massage that matches the height of the user.

[0101] Massage module 100 (refer to Figure 4 ) can be disposed inside the body massage part 1100 so as to provide any form of mechanical stimulation to the user accommodated in the body massage part 1100. Figure 1As shown, the massage module 100 can move along the supporting structure on the body massage part 1100.

[0102] A rack gear extending from the seat portion 1101 to the backrest portion 1102 may be provided in the frame of the support structure constituting the body massage portion 1100, and the massage module 100 moves along the rack gear while providing mechanical stimulation to various parts of the user's body. For example, the massage module 100 may massage the user's back and shoulders, waist, buttocks, and thighs by patting or kneading at least one of the user's body parts. The massage module 100 may include at least one of a ball massage unit and a roller massage unit, but is not limited thereto.

[0103] According to an embodiment of the present invention, the massage device 1000 may include an audio output module 1140. The audio output module 1140 may be provided at various locations. For example, the audio output module 1140 may include a plurality of output units, such as an upper audio output unit disposed at the upper end of the seat portion in contact with the user, a front audio output unit disposed at the front end of the arm massage portion on the left and right sides of the seat portion, and / or a rear audio output unit disposed at the rear end of the arm massage portion, etc., but not limited thereto. In this case, the audio output module 1140 may provide stereo sound such as 5.1 channels, but not limited thereto.

[0104] According to an embodiment of the present invention, the user may control the massage device 1000 using the massage device control apparatus 2000. The massage device control apparatus 2000 may be connected to the massage device 1000 through wired communication and / or wireless communication.

[0105] The massage device control device 2000 may include at least one personal device such as a remote controller, a mobile phone, and a personal digital assistant (PDA), but is not limited thereto, and includes various electronic devices that can be connected to the massage device 1000 via wired communication or wireless communication.

[0106] Reference Figure 2 According to an embodiment of the present invention, the massage device 1000 may include at least one of a control unit 1400, a sensor unit 1410, a communication unit 1420, a memory 1430, an audio output unit 1440, and an input unit 1450. The control unit 1400 may include at least one processor and a memory. The at least one processor may execute instructions stored in the memory.

[0107] The control unit 1400 can control the massage device 1000. The control unit 1400 can include one processor or multiple processors. When the control unit 1400 includes multiple processors, at least a portion of the multiple processors can be located at locations physically separated from each other. In addition, without limitation thereto, the massage device 1000 can be implemented in a variety of ways.

[0108] According to an embodiment of the present invention, the control unit 1400 can control the action of the massage device 1000. For example, the massage device 1000 may include a plurality of actuators, and the massage device 1000 may control the action of the massage device 1000 by controlling the actions of the plurality of actuators. For example, the massage device 1000 may include a driving unit that moves the armrest frame support, at least one actuator included in the massage module 100, at least one of 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 1400 may control the action of the massage device by controlling these actuators, and in this case, the at least one actuator included in the massage module may be a moving actuator, a forward / backward actuator, a massage actuator, and other various actuators.

[0109] The moving actuator is an actuator capable of moving the massage module 100 up and down, and can move the massage module 100 along the support structure in at least one of the upper and lower directions of the massage device 1000. The massage module 100 can move along the rack by the action of the moving actuator. The forward / backward actuator can make the massage module 100 move forward / backward (or tilt) in at least one of the front and rear directions of the massage module 100. In other words, the massage module 100 can be tilted in at least one of the front and rear directions of the massage module 100 by the forward / backward actuator. The massage actuator can make the massage module 100 perform various movements, thereby providing various massage actions to the user.

[0110] The control unit 1400 can provide various massage actions by operating at least one actuator included in the massage actuator. For example, the control unit 1400 can provide slapping massage, kneading massage, etc. by operating at least one actuator included in the massage module 100, but is not limited thereto, and can provide various massage actions.

[0111] The back angle actuator is an actuator for adjusting the angle of the portion of the massage device 1000 that contacts the user's back. The back angle of the massage device 1000 can be adjusted by the operation of the back angle actuator.

[0112] The leg angle actuator is an actuator for adjusting the angle of the leg massage part 1300 of the massage device 1000 . The angle between the leg massage part 1300 and the body massage part 1100 can be adjusted by the operation of the leg angle actuator.

[0113] The foot massage actuator refers to an actuator for operating the foot massage module included in the leg massage part 1300. The massage device 1000 can provide foot massage to the user by using the foot massage actuator.

[0114] The leg length adjustment actuator is an actuator for adjusting the length of the leg massage part 1300. For example, the control part 1400 can use the leg length adjustment actuator to adjust the length of the leg massage part 1300 to match the user, and as a result, the user can enjoy a massage that matches the body shape.

[0115] The memory 1430 may be included in the control unit 1400 or provided outside the control unit 1400. The memory 1430 may store various information related to the massage device 1000. For example, the memory 1430 may include massage control information and may include information related to the user, but is not limited thereto. The information related to the user may be various information related to the user, such as personal authentication information, biometric information of the user (e.g., age, height, weight, blood pressure, body composition, heart rate, electrocardiogram, etc.).

[0116] The memory 1430 may be implemented by a non-volatile storage medium capable of continuously storing any data. For example, the memory 1430 may include not only a magnetic disk, an optical disk, and a magneto-optical storage device, but also a storage device based on flash memory and / or a battery backup memory, but is not limited thereto.

[0117] The memory 1430 may be a main storage device directly accessed by the processor, such as a random access memory (RAM) such as a dynamic random access memory (DRAM) or a static random access memory (SRAM), or a volatile storage device that instantly deletes stored information when the power is turned off, but is not limited thereto. Such a memory 1430 may be operated by the control unit 1400.

[0118] The massage device 1000 may include a sensor unit 1410. The sensor unit 1410 may use at least one sensor to obtain various information. The sensor unit 1410 may be configured as a sensor using a measurement unit such as pressure, potential, and optics. For example, the sensor may include a pressure sensor, an infrared sensor, an LED sensor, a contact sensor, an electrode sensor, an air pressure measurement sensor, etc., but is not limited thereto.

[0119] In addition, the sensor unit 1410 may include a biometric information acquisition sensor. The biometric information acquisition sensor may acquire at least one of fingerprint information, facial information, voice information, iris information, weight information, blood pressure information, heart rate (or heartbeat) information, electrocardiogram information, body composition information, etc., but is not limited thereto and may include a variety of biometric information. For example, the massage device 1000 may provide personalized massage based on the information acquired through the sensor.

[0120] The communication part 1420 may receive a signal transmitted from an external device or transmit a signal regarding the massage device 1000 to the external device.

[0121] For example, the control part 1400 acquires a result signal by processing a signal received by the communication part 1420, and may transfer the result signal to the communication part 1420. The communication part 1420 may transmit (or output) the result signal to an external device.

[0122] The control unit 1400 may acquire information related to various structures included in the massage device 1000 (e.g., information related to the massage module 100, information related to the arm massage unit 1200, etc.), and transmit it to the communication unit 1420. The communication unit 1420 may transmit information related to the massage device 1000 to an external device.

[0123] The communication unit 1420 can communicate with the modules inside the massage device 1000, the external massage device and / or the user terminal through any form of network. The communication unit may include a wired / wireless connection module for connecting to the network. As a wireless connection technology, for example, wireless local area network (Wireless LAN, WLAN) (Wi-Fi), wireless broadband access (Wireless broadband, Wibro), World Interoperability for Microwave Access (Wimax), High Speed ​​Downlink Packet Access (HSDPA), etc. can be used. As a wired connection technology, for example, digital subscriber line (Digital Subscriber Line, XDSL), fiber to the home (Fibers to the home, FTTH), power line communication (Power Line Communication, PLC), etc. can be used. In addition, the network connection unit includes a short-range communication module, which can send and receive data with any device / terminal located in a short distance. For example, as short range communication technology, Bluetooth, Radio Frequency Identification (RFID), infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, etc. can be used, but are not limited to these.

[0124] The massage device 1000 further includes an input unit 1450 and / or an output unit. The massage device 1000 may receive input from a user using the input unit 1450. The massage device 1000 may output a processing result of the control unit 1400 to the output unit.

[0125] Specifically, the input unit 1450 can receive instructions from the user regarding the operation control of the massage device 1000, and the input unit 1450 can be implemented in various ways. For example, the input unit 1450 can be set in the body massage unit 1100, and can be set in the leg massage unit 1300, but is not limited thereto. In addition, the input unit 1450 can include Figure 1 The user input unit 1140, the massage device control device 2000 or will be Figure 3 Various external devices are described.

[0126] The massage device 1000 can obtain various instructions from the user through the input unit 1450. For example, the massage device 1000 can receive any command regarding the selection of a massage module, the selection of a massage type, the selection of a massage intensity, the selection of a massage time, the selection of a massage part, the selection of the position and operation of the body massage part 1100, the selection of turning on / off the power of the massage device 1000, the selection of whether to start the heating function operation, the selection related to the sound source playback, etc., but is not limited thereto.

[0127] The massage device 1000 can provide an interface for selecting a massage mode. For example, the input unit 1450 or the output unit may include a massage device control device 2000. The massage device control device 2000 may list a list of medical massages of various modes related to body improvement.

[0128] The medical massage mode may include at least one of a concentration mode, a meditation mode, a recovery mode, a stretching mode, a sleep mode, a vitality mode, a golf mode, a buttocks shaping mode, a test taker mode, a weightlessness mode, a growth mode, and a cervical traction mode.

[0129] According to another embodiment of the present invention, the input unit 1450 may have a button in the form of a hot key and / or an option button for selecting, canceling, inputting, etc., according to a preset user setting function or a self-preset function.

[0130] The input unit 1450 may be implemented by a touch screen, a keyboard, a dome switch, a touch pad (static pressure / static electricity), a rotary wheel, a jog switch, etc., but is not limited thereto. In addition, the input unit 1450 may obtain instructions according to the user's voice based on voice recognition technology.

[0131] The output unit may include a display for displaying the working status of the massage device 1000 or the current status of the user, etc. 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 three-dimensional display (3D display), but is not limited thereto.

[0132] The output portion may include an audio output portion 1440 . Figure 2 The audio output unit 1440 may include Figure 1The audio output module 1140. The audio output unit 1440 can provide any form of audio output to the user. For example, the audio output unit 1440 outputs to the user a sound source and / or binaural beats that are optimal for the massage method provided by the massage device 1000, thereby providing brain stimulation to the user. The audio output unit 1440 can output an audio signal received through a network (not shown) or stored in an internal / external storage medium (not shown). For example, the audio output unit 1440 can output an audio source based on the control of the user terminal through the user terminal and a network connection (for example, a Bluetooth connection, etc.). In addition, the audio output unit 1440 can output any form of audio signal that occurs in association with the action of the massage device 1000.

[0133] Those skilled in the art will appreciate that the present invention can be implemented in combination with other program modules and / or through a combination of hardware and software.For example, the present invention can be implemented through a computer-readable medium.

[0134] The medium accessible by the computer can be any computer-readable medium, including volatile and non-volatile media, transient (transitory) and non-transitory (non-transitory) media, removable and non-removable media. As a non-limiting example, the computer-readable medium may include computer-readable storage media and computer-readable transmission media.

[0135] Computer-readable storage media include volatile and non-volatile media, transient and non-transient media, removable and non-removable media for storing information such as computer-readable instructions, data structures, program modules and / or other data and which can be embodied by some methods or technologies. Computer-readable storage media may include RAM, ROM, EEPROM, flash memory and / or other storage technologies, CD-ROM, digital video disk (DVD) and / or other optical disk storage devices, cassettes, magnetic tapes, magnetic disk storage devices and / or other magnetic storage devices, or any other medium that can be accessed by a computer and can be used to store the required information, but is not limited to this.

[0136] Figure 3 FIG. 1 is a diagram showing an external device that can communicate with the massage device 1000 according to an embodiment of the present invention.

[0137] The massage device 1000 can communicate with the external device 3000 via wired and / or wireless communication through the communication unit 1420 to send and receive various data.

[0138] The external device 3000 may include a portable electronic device 3100, such as an AI speaker, a tablet computer, or a smart phone. The portable electronic device 3100 may be a dedicated or general portable electronic device for the massage device 1000. In addition, the external device 3000 may include a wearable device 3200 such as a smart watch and / or a smart bracelet. The external device 3000 may include other massage devices 3300 in addition to the massage device 1000 currently used by the user. The external device 3000 may include a hospital server 3400. The external device 3000 may include a personal health record (PHR) server. In addition, the external device 3000 may include a cloud server 3500. The external device 3000 may include a medical measuring device such as an electronic scale, a blood glucose meter, or a blood pressure meter.

[0139] Although some examples of the external device 3000 have been described in the present invention, it should be understood that any device that can communicate with the massage device 1000 by wire or wirelessly and can send and receive information to each other can be included in the external device.

[0140] In order to allow the user to receive massage in a comfortable posture, the massage device 1000 according to an embodiment of the present invention may include a reclining function, which may be a function of rotating the seat portion 1101 and the backrest portion 1102 backwards at their reference positions to allow the user to lie down.

[0141] In addition, in order to assist the user in standing up, the massage device 1000 according to an embodiment of the present invention may have a standing assist function. The standing assist function may be a function of tilting (or rotating) the seat portion 1101 and the backrest portion 1102 forward at a certain angle in their reference position so that the seat portion 1101 and the backrest portion 1102 are close to a vertical axis, thereby adjusting the massage device 1000 to an angle at which the user can easily stand up. As a result, after using the massage device 1000, when the user stands up on the massage device 1000, he or she can easily stand up with little force.

[0142] Figures 4 to 13C This is a diagram for explaining the angle adjustment function of the massage device 1000.

[0143] Reference Figures 4 to 13C The massage device 1000 may include a base portion 1010 and a support structure, a standing assisting device, and a reclining unit disposed inside a body portion 1020 .

[0144] The support structure is a chassis structure constituting the seat portion 1101, the backrest portion 1102, and the leg massage portion 1300, and may be formed of at least one of a frame and a plate.

[0145] The support structure can support various components of the massage device 1000 while supporting the user's body. In this case, the various components may include the massage module 100, the airbag, at least one actuator included in the massage module 100, an air supply device that expands or contracts the airbag by supplying or exhausting air to the airbag, a reclining angle adjustment device, a standing assistance device, and a control unit 1400 (see Figure 2 ) at least one of ).

[0146] In order to comfortably support the user's body parts, the support structure is covered with an inner material such as an injection molded product, polyurethane foam, sponge or expanded polystyrene (styrol) having a shape corresponding to the body, and the inner material is covered with an outer cover composed of a polyester fiber material, tricot, synthetic leather or natural leather.

[0147] According to an embodiment of the present disclosure, the support structure may include: a main frame 30 having a seat frame 31 and a backrest frame 32, a bottom frame 10, a tilt frame 20, a rotation shaft 21, and a rack 90. ​​The bottom frame 10 may constitute a support structure of a base portion 1010; the main frame 30, the tilt frame 20, the rotation shaft 21, the rack 90, etc. may constitute a support structure of a body portion 1020.

[0148] The bottom frame 10, the main frame 30, the tilt frame 20, the rotating shaft 21, the rack 90 and the like constituting the support structure may be covered by shell members 1011, 1021 made of plastic injection molding or the like, thereby being shielded from the outside.

[0149] The main frame 30 can support at least a part of the user's body. For example, the main frame 30 can include a seat frame 31 and a backrest frame 32. The seat frame 31 can support at least a part of the user's lower body. The backrest frame 32 can support at least a part of the user's upper body.

[0150] The bottom frame 10 is a supporting structure of a base portion 1010, which is placed on the ground and supports a main body portion 1020 of the massage device 1000. For example, the bottom frame 10 may be disposed at the lower portion of the main frame 30, thereby supporting the main frame 30. A bottom shell member 1011 is provided on the outer side of the bottom frame 10 to shield the bottom frame 10 from the outside. The bottom shell member 1011 may be made of an injection molded product, and may cover the bottom frame 10 while covering the electrical components for controlling the massage device and for causing the massage device to operate.

[0151] The bottom frame 10 may include a plurality of horizontal bottom frames 11 , a plurality of vertical bottom frames 12 , and a reinforcement frame 13 .

[0152] A plurality of horizontal bottom frames 11 may be extended in front-rear and left-right directions and placed on the ground.

[0153] The plurality of vertical bottom frames 12 may be arranged to extend in a first direction in front and rear of both sides of the horizontal bottom frame 11. In this case, the first direction may be the upper direction of the bottom frame 10 (or the upper direction of the horizontal bottom frame 11). For example, the plurality of vertical bottom frames 12 may be arranged vertically relative to the plurality of horizontal bottom frames 11.

[0154] The plurality of vertical base frames 12 may include: front side vertical base frames 12a disposed in front of both sides of the horizontal base frame 11; and rear side vertical base frames 12b disposed in rear of both sides of the horizontal base frame 11. The front side vertical base frame 12a and the rear side vertical base frame 12b may be vertically arranged relative to the plurality of horizontal base frames 11.

[0155] The reinforcement frame 13 may connect the front side vertical bottom frame 12a and the rear side vertical bottom frame 12b to each other. For example, the reinforcement frame 13 may connect the upper portion of the front side vertical bottom frame 12a and the upper portion of the rear side vertical bottom frame 12b to each other. The reinforcement frame 13 may connect at least a portion of the area between the upper portion and the lower portion of the front side vertical bottom frame 12a and the upper portion of the rear side vertical bottom frame 12b. At this time, at least a portion of the area between the upper portion and the lower portion of the front side vertical bottom frame 12a may be the middle portion (or the middle portion) of the front side vertical bottom frame 12a.

[0156] The tilt frame 20 may be disposed between the main frame 30 and the bottom frame 10 to support the main frame 30. For example, the tilt frame 20 may be connected to a rotation shaft 21 disposed in front of the bottom frame 10. At this time, the rotation shaft 21 may be disposed (or disposed) on the upper side of the front portion of the bottom frame 10 (for example, the upper end portion of the front side perpendicular to the bottom frame 12a).

[0157] The tilt frame 20 is provided so that its front portion can rotate in the up-down direction around a rotation axis 21 , and can be tilted (or rotated) relative to the bottom frame 10 by the standing assist tilt device.

[0158] For example, the tilt frame 20 is formed into a substantially regular hexahedron frame, and can support the seat frame 31 and the backrest frame 32 in such a manner that the seat frame 31 and the backrest frame 32 can rotate on the bottom frame 10. The front lower end portions of both sides of the tilt frame 20 are connected to the rotation shaft 21, so that the front lower end portions can be rotated in the up-and-down direction around the rotation shaft 21 as the center, while performing the standing assist angle adjustment function of the seat frame 31 and the backrest frame 32.

[0159] Reference Fig. 6A and Figure 6BThe tilting frame 20 may include a horizontal tilting frame 22, a plurality of vertical tilting frames 23a, 23b, and upper tilting frames 24a, 24b, 24c.

[0160] The horizontal tilt frame 22 can be extended in the front-rear direction and the left-right direction, so as to be realized (or formed) in a frame shape between the vertical bottom frames 12 and the reinforcement frame 13 on both sides. At this time, the rear side horizontal tilt frame 22a arranged at the rear end of the horizontal tilt frame 22 is connected to the standing auxiliary tilt device, that is, the tilt actuator 60, so that it can receive the external force transmitted.

[0161] A plurality of vertical tilting frames 23a, 23b may be arranged along the second direction in front and rear of both sides of the horizontal tilting frame 22. In this case, the second direction may be the lower side direction of the tilting frame 20 (or the upper side direction of the horizontal tilting frame 22). For example, the plurality of vertical tilting frames 23a, 23b may be arranged vertically relative to the horizontal tilting frame 22. Furthermore, the front side vertical tilting frame 23a and the rear side vertical tilting frame 23b may overlap with the front side vertical bottom frame 12a and the rear side vertical bottom frame 12b, respectively, and be arranged in the side direction (left-right direction) of the front side vertical bottom frame 12a and the rear side vertical bottom frame 12b.

[0162] Among the plurality of vertical tilting frames 23a and 23b, at least a portion of the area between the upper and lower portions of the front vertical tilting frame 23a may be provided at the upper end portion of the front vertical bottom frame 12a in a manner rotatable by the rotating shaft 21. In this case, at least a portion of the area between the upper and lower portions of the front vertical tilting frame 23a may be the middle portion (or intermediate portion) of the front vertical tilting frame 23a.

[0163] The upper inclined frames 24a and 24b are coupled to the upper outer sides of the front vertical inclined frame 23a and the rear vertical inclined frame 23b. The upper inclined frames 24a, 24b and 24c may include: a front vertical upper inclined frame 24a disposed on (or coupled to) the outer side of the front vertical inclined frame 23a; a rear vertical upper inclined frame 24b disposed on the outer side of the rear vertical inclined frame 23b; and a horizontal upper inclined frame 24c connecting the front and rear vertical upper inclined frames 24a and 24b.

[0164] The front side vertical upper inclined frame 24a and the rear side vertical upper inclined frame 24b can be arranged on the same line with the front side vertical bottom frame 12a and the rear side vertical bottom frame 12b respectively. The lower end of the rear side vertical upper inclined frame 24b is installed on the upper end of the rear side vertical bottom frame 12b and supports it, so as to increase the supporting force while playing a braking function. At this time, if the length of the front side vertical upper inclined frame 24a is formed to be shorter than the length of the rear side vertical upper inclined frame 24b, and the length of the front side vertical bottom frame 12a is formed to be longer than the length of the rear side vertical bottom frame 12b, so that the position of the rotating shaft 21 is higher than the rear side vertical bottom frame 12b, there is an advantage that a larger tilting force (rotational force) can be obtained even if the driving force of the tilt actuator 60 becomes smaller.

[0165] When the lower end of the rear side vertical upper inclined frame 24b is connected to the upper end of the rear side vertical bottom frame 12b and installed, a buffer material (not shown) made of elastic material such as rubber or silicone plastic can be arranged between the lower end of the rear side vertical upper inclined frame 24b and the upper end of the rear side vertical bottom frame 12b to absorb impact.

[0166] The horizontal upper inclined frame 24c may include an upper horizontal upper inclined frame and a lower horizontal upper inclined frame. The upper horizontal upper inclined frame may connect the upper portions of the front vertical upper inclined frame 24a and the rear vertical upper inclined frame 24b. The lower horizontal upper inclined frame may connect at least a portion of the upper and lower portions of the front and rear vertical upper inclined frames 24a, 24b. For example, one end of the lower horizontal upper inclined frame may be connected to the lower portion of the front vertical upper inclined frame 24a, and the other end may be connected to the middle portion of the rear vertical upper inclined frame 24b.

[0167] A plurality of reclining rollers 73 may be rotatably provided on an inner side surface of the upper horizontal upper tilt frame 24 c , and the plurality of reclining rollers 73 are guided by reclining rails 72 provided on both side surfaces of the seat frame 31 .

[0168] The tilt frame 20 formed by such a structure can provide the advantages of achieving the standing assist and reclining functions without increasing the overall size of the massage device, especially the left-right width.

[0169] In addition, the structure of tilting the frame 20 as described above has an advantage that a large tilting force can be obtained with a small driving force even if the position of the rotation shaft 21 is moved upward.

[0170] The tilt frame 20 can be rotated in the up-down direction around the rotation axis 21 by a standing assisting tilt device provided at the lower portion of the tilt frame 20. For example, the standing assisting tilt device can be disposed between the base frame 10 and the tilt frame 20, so as to rotate the tilt frame 20 around the rotation axis 21. Specifically, one end of the standing assisting tilt device can be connected to the front of the base frame 10 (for example, a front horizontal base frame among the plurality of horizontal base frames 11), and the other end can be connected to the rear of the tilt frame 20 (for example, a rear end portion of the horizontal tilt frame 22).

[0171] The standing assisting tilting device can tilt the tilting frame 20 around the rotation axis 21 by adjusting the length between one end and the other end of the standing assisting tilting device. In this case, the standing assisting tilting device can be a tilting actuator 60.

[0172] A shielding member 40 is coupled to the rear end of the tilt frame 20 for shielding a space generated between the lower portion of the body 1020 and the base 1010 when the tilt frame 20 is tilted forward about the rotation shaft 21 by the standing assist tilt device.

[0173] Although the shielding member 40 can be made of a plastic injection molded product, its material is not limited. The shielding member 40 can have a rectangular curved plate shape that is longer on the left and right sides, and is combined with the rear side horizontal tilting frame 22a arranged at the rear end of the tilting frame 20, so that the shielding member 40 moves together with the rear side horizontal tilting frame 22a when the tilting frame 20 is tilted around the rotation axis 21. The size of the shielding member 40 can be formed to be roughly consistent with the size of the space generated between the lower part of the main body shell member 1021 of the main body 1020 and the bottom shell member 1011 of the base 1010 due to the tilting of the tilting frame 20. For example, the left and right width of the shielding member 40 can have a size that is slightly longer than or roughly the same as the left and right length of the rear side horizontal tilting frame 22a.

[0174] The shielding member 40 can be combined with the rear horizontal inclined frame 22a by a plurality of brackets 41 and screws 42. Before combining the shielding member 40 with the rear horizontal inclined frame 22a by using the brackets 41 and screws 42, the shielding member 40 can be temporarily assembled on the rear horizontal inclined frame 22a, so that the combining operation can be performed more easily. In order to perform such temporary assembly of the shielding member 40, a plurality of temporary assembly brackets 43 protruding forward can be formed on the front surface of the shielding member 40, and the rear horizontal inclined frame 22a is inserted into and combined with the plurality of temporary assembly brackets 43. A plurality of temporary assembly brackets 43 are arranged up and down, and the spacing between the temporary assembly bracket 43 arranged on the upper side and the temporary assembly bracket 43 arranged on the lower side is roughly consistent with the upper and lower widths of the rear side horizontal inclined frame 22a, and the rear side horizontal inclined frame 22a is pressed between the temporary assembly bracket 43 on the upper side and the temporary assembly bracket 43 on the lower side and is temporarily assembled at the same time, so that the shielding member 40 can be temporarily fixed on the rear side horizontal inclined frame 22a.

[0175] In such a temporary assembly state, the shielding member 40 is firmly assembled to the rear horizontally inclined frame 22 a using the bracket 41 and the screw 42 , so that the worker can easily combine the shielding member 40 with the rear horizontally inclined frame 20 .

[0176] The shielding member 40 may be made of a hard material as a whole. In this case, a flexible shielding film 45 made of a soft material extending upward may be provided at the upper end of the shielding member 40. The flexible shielding film 45 may be made of any soft material such as non-woven fabric or fabric, resin such as rubber or silicone plastic, leather, etc. The left and right lengths of the flexible shielding film 45 may be roughly consistent with the left and right lengths of the shielding member 40. The lower end of the flexible shielding film 45 may be combined with the upper end of the shielding member 40 by a bracket 41 and a screw 42.

[0177] When the seat frame 31 and the backrest frame 32 slide in the front-to-rear direction relative to the tilting frame 20 and perform the reclining function through the following reclining unit, the flexible shielding film 45 contacts the rear surface of the main body shell member 1021 of the main body 1020 and undergoes elastic deformation, thereby not hindering the reclining action of the main body 1020 and effectively shielding the space generated when the standing auxiliary action is performed by tilting the tilting frame 20.

[0178] Reference Figure 4 , Figure 5 , Fig.10The main frame 30 is a member that supports the buttocks and back of the body while also supporting the massage module 100, the rack 90, etc., and the main frame 30 may include a seat frame 31 and a backrest frame 32. A body shell member 1021 for covering the main frame 30 and the tilt frame 20, etc. is combined on the outside of the main frame 30, whereby the main frame 30 and the body shell member 1021 move together.

[0179] The seat frame 31 is rotatably provided at the upper portion of the tilt frame 20 so as to support (or hold) the buttocks portion of the user.

[0180] The backrest frame 32 is disposed at the rear end of the seat frame 31 and can be formed (or arranged) to extend upward to support the back of the user. The seat frame 31 and the backrest frame 32 constitute a support structure inside the seat portion 1101 and the backrest portion 1102 of the massage device 1000.

[0181] The seat frame 31 may be a part formed as a framework of the seat portion 1101, and the back frame 32 may be a part formed as a framework of the backrest portion 1102. The seat frame 31 and the back frame 32 may be integrally connected to each other.

[0182] As described above, the seat frame 31 and the back frame 32 are integrally formed with each other in order to rotate together, but are not limited thereto. For example, the seat frame 31 and the back frame 32 can be connected to each other so as to be rotatable relative to each other, thereby being physically distinguishable.

[0183] The rack 90 is a member that meshes with a pinion provided on the massage module 100 and generates a driving force for moving the massage module 100 up and down, and can be provided on the seat frame 31 and the backrest frame 32. In the seat frame 31 and the backrest frame 32, guide rails for guiding the up and down movement of the massage module 100 can be arranged side by side on the upper side of the rack 90. ​​The rack 90 can be made of a metal material or a plastic material. For example, the rack 90 can be made of iron, steel, alloy, reinforced plastic, melamine resin, phenolic resin, etc., but is not limited thereto. In addition, when the seat frame 31 and the backrest frame 32 can be connected to each other so as to rotate relative to each other, the rack 90 can be made of a flexible material so as to flexibly deform as the angle between the seat frame 31 and the backrest frame 32 changes.

[0184] According to an embodiment of the present invention, the rack 90 may be disposed at two sides of the seat frame 31 and the backrest frame 32 in an opposing manner, and the massage module 100 may move along the rack 90. Figure 4As shown, the rack 90 is formed in the up-down direction, but is not limited thereto. The rack 90 may include a rack in the front-to-back direction and a rack in the up-to-down direction. In the present invention, the front-to-back direction refers to the direction from the massage module 100 toward the user or from the user toward the massage module 100, which may also be referred to as the Z-axis direction.

[0185] The massage module 100 may include a gear meshed with the rack 90. ​​More specifically, the massage module 100 may include a plurality of gears meshed with the racks in the front-rear direction and the racks in the up-down direction, respectively. The gears are rotated by an actuator provided on the massage module 100, so that the massage module 100 can be tilted (or rotated) toward at least one of the front direction and the rear direction of the massage module 100, and can be moved toward at least one of the upper side direction and the lower side direction of the massage module 100. As the massage module 100 moves in the front direction, the intensity of the massage can increase. In addition, as the massage module 100 moves in the rear direction, the intensity of the massage can be weakened.

[0186] like Figure 7 As shown, the normal state (or normal state) of the massage device 1000 may be a state where the seat frame 31 and the backrest frame 32 are tilted backward at a certain angle. For example, the normal state may be a state where the seat frame 31 is lifted about 14° to 15° to the upper side of the seat frame 31 with respect to the horizontal axis relative to the ground. In this way, the user can receive massage in a posture of sitting comfortably on the massage device 1000.

[0187] However, since the seat frame 31 and the backrest frame 32 are inclined at a certain angle, the user needs to use more strength when he wants to stand up from the massage device 1000 after using the massage device 1000.

[0188] To solve the above problems, the massage device 1000 implements the standing assistance mode (or standing assistance function) of the massage device 1000 through the standing assistance device, so that Figure 7 As shown in the right figure of , the state of the massage device 1000 can be changed to the standing assist state.

[0189] Thus, when the user wants to stand up from the massage device 1000 after using the massage device 1000, the massage device 1000 can assist the user in standing up, so that the user can stand up with less force.

[0190] The standing aid device will be described in detail below.

[0191] According to an embodiment of the present disclosure, the standing assistance device may include a standing assistance tilt device.

[0192] Based on the control unit 1400 (refer to Figure 2 ), the standing assist tilting device can be arranged at the lower part of the supporting structure, and with the rotating shaft 21 arranged at the front part of the supporting structure as a reference, the supporting structure can be tilted in at least one of the forward direction (or the upper direction) and the rearward direction (or the lower direction).

[0193] For example, the standing assisting tilting device may include a tilting actuator 60. The front end of the tilting actuator 60 may be hinged to the front of the bottom frame 10, and the rear end thereof may be hinged to the lower end of the rear end of the tilting frame 20. The tilting actuator 60 may be an electric actuator having a working rod 61. The tilting actuator 60 obtains power from a motor operated by a power source recognized by the control device of the massage device 1000, so that the tilting actuator 60 can be extended and retracted while linearly reciprocating.

[0194] As described above, the reclining actuator 60 is an electric actuator operated by a motor, but is not limited thereto. For example, the reclining actuator 60 may be a hydraulic actuator having a working rod that can be extended by the pressure of a fluid (e.g., air) supplied by a pneumatic supply device (not shown).

[0195] For example, when the control unit 1400 implements the standing assistance mode, Figure 7 The right picture and Fig.11 As shown in FIG. 1 , the state of the massage device 1000 can be changed from the normal state ( Figure 7 The middle picture and Fig.10 The standing assist state may be a state where the seat frame 31 is lowered about 10° relative to the horizontal axis of the ground and the backrest frame 32 is rotated forward, thereby approaching a vertical axis.

[0196] For example, after using the massage device 1000, the user can execute the standing assistance mode of the massage device 1000 through the command input device of the massage device 1000 or the dedicated application of the smartphone. When the standing assistance mode is executed, the control unit 1400 extends the working rod 61 by operating the motor of the tilt actuator 60, so that the tilt frame 20 can be rotated in the forward direction (or the upper direction; clockwise direction in the figure) around the rotation axis 21. In other words, the control unit 1400 can change the massage device 1000 from the normal state to the standing assistance state.

[0197] Thus, the control unit 1400 can provide the user with a standing assist force for pushing the user's body forward by changing the angle of the tilt frame 20, thereby putting the user in a posture of standing slightly forward, so that the user can stand easily on the massage device 1000 with less force.

[0198] For another example, the control unit 1400 can change the state of the massage device 1000 from Fig.11 The stand assist status shown in the figure changes to Fig.10 The normal state shown in , thereby assisting users to take their seats.

[0199] For example, the control unit 1400 operates the motor of the tilt actuator 60 to retract the working rod 61, thereby tilting the tilt frame 20 toward the rear direction (or the lower direction; in the figure, the counterclockwise direction) of the tilt frame 20 with the rotation axis 21 as the center. In other words, the control unit 1400 can assist the user to sit down by tilting the tilt frame 20 backward so that the tilt frame 20 returns to the initial position (or normal state) before the tilting.

[0200] That is, the standing assisting tilting device can assist the user in standing by tilting the supporting structure toward the front of the massage device, and can assist the user in sitting by tilting the supporting structure toward the rear of the massage device.

[0201] As described above, when the standing assist function is performed by operating the tilt actuator 60 of the standing assist tilt device, the rotation angle of the main body 1020 is increased, thereby creating a gap between the lower end of the main body casing member 1021 of the main body 1020 and the bottom casing member 1011 of the base 1010. At this time, since the shielding member 40 is provided on the rear end of the tilt frame 20, and the tilt frame 20 and the shielding member 40 rotate together, the shielding member 40 can shield the space / gap generated between the lower end of the main body casing member 1021 and the bottom casing member 1011.

[0202] As described above, the massage device 1000 according to an embodiment of the present invention may include: a standing assist function for assisting a user to stand; and a reclining function for enabling the user to receive massage in a comfortable posture.

[0203] Next, the reclining unit for realizing the reclining function will be described in detail.

[0204] According to an embodiment of the present invention, the seat frame 31 and the backrest frame 32 may be arranged on the tilt frame 20 in such a manner that the angles thereof can be changed up and down by a reclining unit, thereby performing a reclining function. The reclining unit may change the angles of the seat frame 31 and the backrest frame 32 relative to the ground by tilting (or rotating) the seat frame 31 and the backrest frame 32 relative to the tilt frame 20 (refer to Fig. 13C ).

[0205] Reference Figure 4 and Figure 5The reclining unit may include a reclining guide rail 72 , a plurality of reclining rollers 73 , and a reclining actuator 70 .

[0206] The reclining rails 72 may be formed in a curved shape that bends up and down, and provided at both sides of the seat frame 31 and / or the back frame 32 .

[0207] A plurality of reclining rollers 73 may be provided at the front and rear of the upper end portion of the reclining frame 20 to be inserted into the reclining guide rail 72 and guided by the reclining guide rail 72 .

[0208] The reclining actuator 70 may include an operating rod 71. One end of the operating rod 71 is hinged to the rear end of the reclining frame 20, and the other end is hinged to the front end of the seat frame 31. The operating rod 71 may be linearly moved and extended and retracted by a motor.

[0209] like Figure 4 and Figure 5 As shown in , the reclining actuator 70 may be an electric actuator in which the working rod 71 is actuated by a motor, or may be a hydraulic actuator in which the working rod 71 is extended and retracted by the pressure of a fluid supplied by a pneumatic supply device (not shown).

[0210] When the massage device 1000 is in a normal state (or initial position; see Figure 7 and Fig.13A ), and when the motor of the reclining actuator 70 is actuated to extend the working rod 71, the reclining guide rail 72 can move forward under the guidance of the reclining roller 73 of the reclining frame 20, and the seat frame 31 rises, while the backrest frame 32 falls. Figure 7 The left picture and Fig. 13C As shown, the massage device 1000 can be changed to a weightless state (or a reclining state) so that the user can lie down.

[0211] When the massage device 1000 is in a weightless state, and the motor of the reclining actuator 70 operates in the opposite manner to the above situation to shrink the working rod 71, the reclining guide rail 72 can move backward under the guidance of the reclining roller 73 of the tilting frame 20, and the seat frame 31 descends, while the backrest frame 32 rises. Therefore, the massage device 1000 is changed (or returned) to a normal state, so that the user can sit down.

[0212] When performing this function, the body shell member 1021 is combined with the seat frame 31 and the main frame 30 and moves together, and the shielding member 40 connected to the reclining frame 20 and the rear end portion of the reclining frame 20 is in a stopped state, so that the body shell member 1021 can contact the upper end portion of the shielding member 40 during the reclining process. Fig.12As shown in FIG, by providing a flexible shielding film 45 at the upper end of the shielding member 40, the flexible shielding film 45 contacts the body shell member 1021 during the reclining process, thereby preventing damage to components and not hindering the reclining function.

[0213] Reference Figure 4 and Figure 5 , FIG. 13A to FIG. 13C , forming a leg massage part 1300 (refer to Figure 1 The leg frame 50 of the support structure of the seat frame 30 can be connected to the front end of the seat frame 30 in a rotatable manner. The leg frame 50 is configured to support the user's calf and foot part through the leg driving part, and its upper end can be set to be rotatable around the hinge shaft 51 set at the front end of the seat frame 30.

[0214] The leg driving unit can rotate the leg frame 50 around the hinge shaft 51. The rear end of the leg driving unit can be hinged to the rear end of the seat frame 30, and the front end can be hinged to the leg frame 50. The leg driving unit can include a leg actuator 80 having a working rod 81 that can perform linear reciprocating motion and extend and retract by a motor.

[0215] Since the leg frame 50 is connected to the front end portion of the seat frame 30 and extends downward, when the standing actuator 60 is operated to rotate the front end portion of the seat frame 30 downward in the folded state of the leg frame 50, the lower end portion of the leg frame 50 collides with the ground or the bottom frame 10 and / or a structure provided on the bottom frame 10, and may be damaged or generate vibration and noise due to the impact.

[0216] In order to prevent this from happening, the leg hinge bracket 52 is formed on the front end of the seat frame 30 in a manner inclined upward toward the front, and the (upper) end of the leg hinge bracket 52 is provided with a hinge shaft 51. When the tilt frame 20 rotates upward around the rotation shaft 21 and the standing assist function is performed by the tilt of the tilt frame 20, the lower end of the leg frame 50 does not touch the ground (refer to Fig. 13B ). When the standing assist function is performed, the leg frame 50 forms a substantially right angle with the ground.

[0217] In addition, when the standing assist function is executed, the length of the leg frame 50 may be limited to a specific length or less so that the lower end of the leg frame 50 does not collide with the ground. In this case, in order to increase the length of the leg frame 50 according to the leg length of the user in a state other than the standing assist state, that is, in the normal state and / or the reclining state, the leg frame 50 may be configured to be split up and down and movable (see FIG. Fig. 13C ).

[0218] That is, the leg frame 50 is divided into an upper leg frame 50a connected to the leg hinge bracket 52 via a hinge shaft 51, and a lower leg frame 50b provided on the lower side of the upper leg frame 50a so as to be able to slide up and down relative to the upper leg frame 50a, wherein the lower leg frame 50b may be configured to be able to slide up and down by a length adjustment actuator (not shown). The length adjustment actuator (not shown) may be a known electric actuator operated by a motor, but is not limited thereto.

[0219] Reference FIG. 13A to FIG. 13C The interval between the upper leg frame 50a and the lower leg frame 50b can be adjusted according to the state of the massage device. Fig.13A The normal state (standby / normal state) shown in Fig. 13B In the standing assist state shown in FIG, the interval between the upper leg frame 50a and the lower leg frame 50b can be adjusted to the minimum interval (or less than the preset first interval). In contrast, in the massage action state or Fig. 13C In the reclining state shown in , etc., the interval between the upper leg frame 50a and the lower leg frame 50b can be adjusted to the maximum interval (or greater than the preset second interval). In particular, in the latter case, when the user's leg length is measured by a sensor or the like or information about the leg length is input and / or stored in the control unit of the massage device, the interval between the upper leg frame 50a and the lower leg frame 50b can be appropriately adjusted to match. For example, the longer the leg length, the longer the interval between the upper leg frame 50a and the lower leg frame 50b can be adjusted, and the shorter the leg length, the shorter the interval between the upper leg frame 50a and the lower leg frame 50b can be adjusted.

[0220] Below, we will refer to FIG. 14A to FIG. 21 The working principle of the arm massage part etc. is described in detail. In order to distinguish the embodiments and effectively describe the corresponding embodiments, some terms or reference numerals referring to the components of the embodiments described below may be different from those of the above-mentioned embodiments.

[0221] exist FIG. 14A to FIG. 19 2 shows a massage device 1000 having a rotatable arm massage part according to an embodiment of the present invention.

[0222] The arm massage part 1200 on at least one side of the massage device 1000 may be configured to be rotatable in at least one direction relative to the body massage part 1100. For example, the arm massage part 1200 may include a first arm massage part and a second arm massage part disposed on both sides of the body massage part 1100. The first arm massage part and the second arm massage part may be configured to be independently rotatable in the up-down and / or left-right directions relative to the body massage part 1100.

[0223] Reference FIG. 14A to FIG. 15 According to an embodiment of the present invention, a massage device 1000 may include: a body massage part 1100, which includes a main frame 1130 for forming the skeleton of the massage device 1000 and is used to massage the user's body; and an arm massage part 1200, which is arranged on both sides of the body massage part 1100 and respectively accommodates two arms of the user and massages the user's arms.

[0224] As described above, the body massage part 1100 may be a unit that provides massage to at least a portion of the user's body. For example, a space for accommodating at least a portion of the user's body may be formed in the body massage part 1100.

[0225] As an embodiment, the accommodation space of the body massage part 1100 may be a space for a user to sit in. That is, the user may sit in the space formed in the body massage part 1100, and the user may receive massage in the seated state.

[0226] The main frame 1130 may be a unit that is disposed inside the body massaging part 1100 and forms a skeleton of the body massaging part 1100 .

[0227] As an optional embodiment, the body massage part 1100 may include a cover, which covers the massage module 1110 disposed inside the body massage part 1100 so that the massage module 1110 is not exposed to the outside.

[0228] The arm massage part 1200 may be a unit for massaging or stretching the user's arm. For example, the arm massage part 1200 may include a massage module for massaging the user's arm and various components such as an air bag for massaging the user's arm.

[0229] In addition, as described later, the arm massaging part 1200 may be rotated in at least one direction, thereby providing at least one of stretching, other medical treatments, and massage to the user.

[0230] It should be understood hereinafter that the situation of providing massage to the user's arm includes various actions of the arm massage unit 1200 provided to the user's arm, for example, providing simple massage (for example, pressing massage (or acupressure massage), patting massage, kneading massage, etc.) and stretching performed by rotating or extending the user's arm in a specific direction and at least one of other medical treatments.

[0231] In addition, the arm massage part 1200 rotates in at least one direction, thereby minimizing the obstruction of the arm massage part 1200 to the user's body when the user sits on the body massage part 1100 or leaves after use, thereby providing the user with a function of conveniently sitting or leaving. For example, before the user sits on the body massage part 1100, or before the user leaves the body massage part 1100, the rotating module opens at least one side of the body massage part 1100 by rotating the arm massage parts 1200 on both sides or one side of the arm massage part 1200 upward, thereby facilitating the sitting or leaving action.

[0232] The arm massage part 1200 may be disposed on both sides of the body massage part 1100. For example, the arm massage part 1200 may be disposed at positions (or regions) corresponding to two arms of the user in the overall region of both sides of the body massage part 1100. Each arm massage part 1200 may be provided with a space for accommodating the user's arms.

[0233] The arm massage part 1200 may include an arm placement frame 1210 connected to both sides of the main frame 1130. The arm placement frame 1210 may rotate around a rotation axis 1230 provided on both sides of the main frame 1130. The rotation axis 1230 may be disposed near one end (or upper end) of the upper frame 1131. At this time, as positions corresponding to the shoulders of the user, the upper ends of the upper frame 1131 on both sides may be the rear upper ends of the shoulders of the user, etc. The rotation axis 1230 may be directly coupled to the upper frame 1131 near the upper end of the upper frame 1131 corresponding to the rear of the shoulders of the user, or through a bracket, a plate, or a frame structure, so that the rotation may be performed around an axis extending from the upper end of the upper frame 1131 to the side direction.

[0234] On the front side of the arm placement frame 1210, a "C"-shaped arm placement groove 1212 that is open inward and rearward in the side direction may be provided, allowing the user's arm to be inserted into the arm placement groove 1212. In the arm placement groove 1212, at least one of an airbag, a massage module, and a warming module capable of massaging the user's arm may be provided. The airbag expands and contracts through the supply and discharge of air, thereby applying pressure to the user's arm portion to perform massage. Also, the massage module may be configured to vibrate and massage the arm portion by relying on an actuator. The warming module may be configured to provide a warming-based massage effect by applying heat to the arm portion.

[0235] The arm placement frame 1210 may be rotated in the vertical direction about the rotation axis 1230 by a rotation module. The rotation module may be configured to convert the linear motion of an actuator into the rotational motion of the arm massage unit 1200, thereby rotating the arm massage unit 1200. For example, the rotation module may be configured to rotate the arm massage unit 1200 at a specified angle in the vertical direction of the massage device 1000 about the rotation axis 1230. The rotation module for rotating the arm massage unit 1200 in the vertical direction may include: an arm rotation actuator 1250 having a telescopic rod 1251, one end of the telescopic rod 1251 being connected to the main frame 1130 of the body massage unit 1100 and extending or contracting in one direction; and a motion conversion member 1260 connected to the other end of the arm rotation actuator 1250 and converting the linear motion of the telescopic rod 1251 into the rotational motion of the arm massage unit 1200.

[0236] The arm rotation actuator 1250 may be implemented by at least one of a pneumatic actuator, an electric actuator, a hydraulic actuator, and an electro-hydraulic actuator, thereby enabling the telescopic rod 1251 to extend and contract. For example, the arm rotation actuator 1250 can cause the telescopic rod 1251 to perform a linear reciprocating motion while extending or contracting through the rotational force of a motor that operates by the power applied by the control unit 1400 (refer to Figure 2 ). As another example, the arm rotation actuator 1250 can cause the telescopic rod 1251 to perform a linear reciprocating motion while extending or contracting through the air pressure and / or hydraulic pressure applied by the control unit 1400.

[0237] One end of the arm rotation actuator 1250 may be connected to a side portion of the main frame 1130, and the other end may be connected to the motion conversion member 1260. For example, the end of the telescopic rod 1251 of the arm rotation actuator 1250 is connected to the motion conversion member 1260, and the rotational force can be transmitted to the arm massage unit 1200 through the motion conversion member 1260 as the telescopic rod 1251 moves linearly.

[0238] The motion conversion member 1260 for converting the linear motion of the telescopic rod 1251 into the vertical rotational motion of the arm massage part 1200 may be configured to transmit a rotational force to the arm massage part 1200 while rotating around a rotation shaft 1230 coupled to the main frame 1130 .

[0239] For example, the motion conversion component 1260 may include: a crank head 1261, the center portion of which is rotatably connected to the main frame 1130 around a rotating shaft 1230 coupled to the main frame 1130, and one side of the crank head 1261 is coupled to the arm massage portion 1200; a crank blade 1262, which is formed on the crank head 1261 in a manner extending in a radial direction of the crank head 1261 and is formed with a long hole-shaped guide hole 1264; and a crank connecting component 1263, which connects the telescopic rod 1251 of the arm rotation actuator 1250 to the guide hole 1264 and moves along the guide hole 1264.

[0240] The crank head 1261 may be formed substantially in a cylindrical shape, and an axis hole 1261a for inserting and connecting the rotating shaft 1230 is formed through the center of the crank head 1261 in two directions. One end of the rotating shaft 1230 may be coupled to one side of the upper frame 1131, and the crank head 1261 may rotate relative to the rotating shaft 1230. One side of the crank head 1261 may be coupled to the arm massage part 1200. For example, one side of the crank head 1261 may be firmly coupled to the cylindrical rotating coupling part 1214 protruding from the rear part of the arm massage part 1200 to the inside by a fastening member such as a bolt or a screw.

[0241] When one side of the crank head 1261 is combined with the rotating joint 1214 of the arm massage part 1200, an anti-mis-assembly portion for guiding the combined position between the crank head 1261 and the arm massage part 1200 may be provided on one side of the crank head 1261 and one side of the arm massage part 1200, so that the crank head 1261 and the arm massage part 1200 can be combined at a predetermined accurate position. For example, the anti-mis-assembly portion may include: a plurality of assembly grooves (not shown) formed concavely on one surface of the rotating joint 1214 of the arm massage part 1200; and a plurality of assembly protrusions 1265 protruding on one surface of the crank head 1261 and individually inserted into each assembly groove formed on the rotating joint 1214.

[0242] The crank blade 1262 may be integrally formed at one side of the crank head 1261. The crank blade 1262 has a plate shape extending in a radial direction at one side of the crank head 1261, and may be formed at the crank head 1261 in a single body.

[0243] As described above, although the crank blades 1262 can be formed in a single number, it is not limited to this. For example, the crank blades 1262 can be formed in plurality and extend in the radial direction on both sides of the crank head 1261. Multiple (hereinafter, assumed to be two) crank blades 1262 can be separated from each other by a specified distance and formed side by side. At this time, the end of the telescopic rod 1251 of the arm rotation actuator 1250 is inserted into the space between the two crank blades 1262, and can be connected to the crank blade 1262 in a manner of relative movement with the crank blade 1262 through the crank connecting member 1263.

[0244] A guide hole 1264 for connection with the arm rotation actuator 1250 may be formed in the crank blade 1262 in the shape of a long hole extending in a radial direction of the crank head 1261 .

[0245] The crank connection member 1263 may be formed by a bushing inserted into the guide hole 1264 of the crank blade 1262. The center portion of the bushing may be connected to the end of the telescopic rod 1251 of the arm rotation actuator 1250 through a fastening port. The fastening port may be formed by applying various fastening members such as at least one of a bolt, a screw, and a pin.

[0246] like Fig.19 As shown, in the motion conversion member 1260 of this configuration, as the telescopic rod 1251 of the arm rotation actuator 1250 contracts and / or extends, the crank connection member 1263 connected to the telescopic rod 1251 of the arm rotation actuator 1250 can slide along the guide hole 1264 of the crank blade 1262 while applying a pulling or pushing force to the crank blade 1262. Therefore, the crank head 1261 can rotate around the rotation axis 1230, and the arm massage part 1200 can perform a rotational motion around the rotation axis 1230.

[0247] According to the rotation module having the above structure, since the arm rotation actuator 1250 converts the linear motion of the telescopic rod 1251 of the arm rotation actuator 1250 into a rotational motion through the motion conversion member 1260 in a fixed state and transmits it to the arm massage part 1200, the rotation of the arm massage part 1200 is realized very smoothly, and almost no noise and vibration are generated during the rotation operation. In other words, compared with the case where the arm massage part 1200 is rotated only by the arm rotation actuator 1250, the arm rotation actuator 1250 does not shake to the side during the extension and / or contraction of the telescopic rod 1251 of the arm rotation actuator 1250, so there are advantages that no vibration and noise are generated, the installation space of the arm rotation actuator 1250 can be reduced, and interference between the arm rotation actuator 1250 and other components can be eliminated.

[0248] One end of the arm rotation actuator 1250 may be connected to the main frame 1130. For example, the lower end of the arm rotation actuator 1250 may be connected to the actuator bracket 1280 fixed to the main frame 1130 in a relatively rotatable manner by a fastening device such as a connecting pin 1282. At this time, the connecting pin 1282 and the rotating shaft 1230 may be arranged in directions separated by a specified angle. For example, the connecting pin 1282 and the rotating shaft 1230 may be arranged in an orthogonal direction. Specifically, the connecting pin 1282 is arranged along the front-to-back direction (Y-axis direction) of the massage device 1000, and when the rotating shaft 1230 is arranged along the left-right direction (X-axis direction) of the massage device 1000 and the arm massage part 1200 is rotated in the up-down direction with the rotating shaft 1230 as the center, the connecting pin 1282 arranged at the lower end of the arm rotation actuator 1250 resists the main frame 1130 and does not rotate relative to the main frame 1130.

[0249] When the arm massage part 1200 is rotated by extending and / or contracting the telescopic rod 1251 of the arm rotation actuator 1250, a moment may be generated in the rotation direction of the motion conversion member 1260. This moment applies a force to the connection portion between the arm rotation actuator 1250 and the main frame 1130, that is, the connection pin 1282, thereby causing problems such as noise and vibration caused by breakage or damage and wear of the connection pin 1282.

[0250] As described above, the arm massage part 1200 is rotated by the extension or contraction of the telescopic rod 1251 of the arm rotation actuator 1250. In order to reduce the noise and vibration caused by the torque generated during the rotation, the massage device 1000 may include a damping member 1270. For example, one end (e.g., the lower end) of the arm rotation actuator 1250 is inserted between the two side surfaces of the "U"-shaped actuator bracket 1280 combined with the main frame 1130, and it can be connected to the actuator bracket 1280 by the connecting pin 1282 passing through the two side surfaces of the actuator bracket 1280. At this time, the actuator bracket 1280 can be fixedly combined with the main frame 1130.

[0251] like Fig.18B As shown, the damping member 1270 can be respectively disposed between the lower end connecting side surface of the arm rotation actuator 1250 and the two side surfaces of the actuator bracket 1280, thereby playing a role in reducing the moment applied to the connecting pin 1282. At this time, the damping member 1270 can be made of an elastic material such as rubber that can absorb external forces.

[0252] As described above, the massage device 1000 can provide various massage and stretching functions to the user by operating the arm rotation actuator 1250 of the rotation module to rotate the arm massage part 1200 in the up and down or left and right directions of the massage device 1000 .

[0253] In addition, the massage device 1000 rotates the arm massage part 1200 by running the rotation module before the user sits on the body massage part 1100 and / or leaves the body massage part 1100, thereby opening at least one of the one side and the other side of the body massage part 1100, so that the user can easily sit on the body massage part 1100 or leave the body massage part 1100.

[0254] In addition, if Fig.14A , Fig. 14B , Fig. 20 , Fig.21 As shown, the massage device 1000 according to an embodiment of the present invention may further include a leg massage part 1300 that can rotate independently of each other.

[0255] The leg massage part 1300 may be arranged to correspond to both sides of the user's legs. For example, the leg massage part 1300 may include: a first leg massage part 1310 corresponding to one side of the user's legs; and a second leg massage part 1330 corresponding to the other side of the user's legs.

[0256] The first leg massage part 1310 and the second leg massage part 1330 can be controlled independently. For example, the first leg massage part 1310 and the second leg massage part 1330 can provide massage functions to the user separately. In addition, the first leg massage part 1310 and the second leg massage part 1330 can rotate independently. According to the needs, the user can receive different massages provided to the legs on both sides, or receive massages provided alternately to the legs on both sides. In addition, the user's legs on both sides can be provided with a stretch or massage based on rotation. In this case, the first leg massage part 1310 and the second leg massage part 1330 can rotate the legs on both sides of the user simultaneously or separately.

[0257] Reference Fig. 20 The massage device 1000 may include a leg angle actuator 1350 for rotating the leg massage part 1300. The leg angle actuator 1350 may be disposed inside the body massage part 1100. For example, the leg angle actuator may be connected to the main frame 1130.

[0258] The leg angle actuator 1350 may be configured to extend in one direction. The leg massage part 1300 may rotate as the leg angle actuator 1350 extends. The leg angle actuator 1350 may be provided to correspond to the first leg massage part 1310 and the second leg massage part 1330, respectively and independently. The two leg angle actuators 1350 are respectively connected to the first leg massage part 1310 and the second leg massage part 1330, so that the first leg massage part 1310 and the second leg massage part 1330 can be rotated separately.

[0259] The leg angle actuator 1350 may be provided at one end thereof with a link member 1351. The link member 1351 may contact the leg massaging part 1300 and provide a rotational driving force to the leg massaging part 1300. A wheel 1351a may be provided at an end of the link member 1351 on the leg massaging part 1300 side.

[0260] Reference Fig.21 , the leg massage part 1300 may be rotatably connected to a leg connection frame 1131b disposed on the main frame 1130. The upper frame 1131 may include the leg connection frame 1131b. The leg connection frame 1131b may be disposed at a front end of the upper frame 1131. The leg connection frame 1131b may be manufactured as a separate component and coupled to the upper frame 1131, or may be manufactured integrally with the upper frame 1131. When the leg connection frame 1131b is manufactured integrally with the upper frame 1131, the leg connection frame 1131b may refer to a constituent element of the upper frame 1131.

[0261] The central support bracket 1530 and the side support bracket 1550 may be connected to the central portion and both side ends of the leg connection frame 1131b. For example, the central support bracket 1530 and the side support bracket 1550 may be welded and coupled to the leg connection frame 1131b, or may be coupled by fastening members such as bolts, rivets, etc. However, the method of coupling the central support bracket 1530 and the side support bracket 1550 to the leg connection frame 1131b may be replaced by various methods commonly used in the technical field to which the present invention belongs.

[0262] The central supporting bracket 1530 and the side supporting bracket 1550 may rotatably fix the leg massaging part 1300 .

[0263] The first leg massage part 1310 and the second leg massage part 1330 may be arranged in front of the leg connection frame 1131b. For example, the first leg massage part 1310 may be arranged in the front right side of the leg connection frame 1131b, and the second leg massage part 1330 may be arranged in the front left side of the leg connection frame 1131b.

[0264] Below, refer to Figure 22 to Figure 29 The specific structure, execution, functions, etc. of the massage device (hereinafter referred to as the "massage device") 200 according to an embodiment of the present invention (hereinafter referred to as the "second embodiment") that provides a combined standing mode (i.e., a standing mode in which the arm massage part, etc. are linked) will be described in detail.

[0265] Some of the terms and / or reference numerals used in the following description to refer to the massage device and its subordinate components according to the second embodiment may be different from the terms and / or reference numerals used in the above-mentioned massage device, etc.

[0266] This is due to the instrumental necessity of distinguishing the embodiments and effectively describing the corresponding embodiments. Therefore, if the corresponding technical ideas can be realized at the level of technical personnel in this field, it should be interpreted that the structure of the embodiments described below is the same as or equivalent to the above structure.

[0267] For example, the arm massage part 220 and the leg massage part 260 described in the second embodiment below are structures corresponding to the arm massage part 1200 and the leg massage part 1300 described in the above embodiment, and the control part 250 of the second embodiment is corresponding to the control part 1400 of the above embodiment (see Figure 2 etc.) corresponding composition.

[0268] In addition, the arm driving unit 230 in the second embodiment for driving the arm massage unit 220 to rotate, move, extend or retract its length, etc., may correspond to the rotation module or arm rotation actuator 1250 of the above-mentioned embodiment, and the leg driving unit 270 of the second embodiment may correspond to the leg angle actuator 1350 of the above-mentioned embodiment.

[0269] The body massaging part 210 of the second embodiment may correspond to the body massaging part 1100 of the above-mentioned embodiment, and may include a seat part 1101 and a backrest part 1102 and the like as described above.

[0270] In addition, as described above, the body driving unit 240 for changing the angle, posture, position, etc. of the body massage part 210 can be a standing auxiliary reclining unit that can be realized by the tilt actuator 60. According to the embodiment, it can include a reclining unit (reclining actuator) that changes the angle of the seat frame and the backrest frame or slides the body massage part 201, 1100 forward or backward.

[0271] Fig. 22 and Fig.23 is a block diagram showing a detailed structure of a massage device 200 according to a second embodiment of the present invention. Fig.24 It is a flowchart for explaining a processing procedure according to an embodiment of the present invention based on the behavior structure of the present invention.

[0272] like Fig. 22 As shown, the massage device 200 of the present invention can be constructed to include a body massage part 210, an arm massage part 220, an arm driving part 230, a body driving part 240, a control part 250, a leg massage part 260, a leg driving part 270 and a sensing sensor 280.

[0273] Fig. 22 and Fig.23 2 is a block diagram for focusing on explaining the massage device 200 of the second embodiment of the present invention. Therefore, the massage device 200 of the present invention may additionally include in addition to Fig. 22 Other configurations than those shown are of course possible.

[0274] It should be understood that Fig. 22 The components of the massage device 200 shown in the figure are better understood as components that are functionally or theoretically distinguished rather than physically distinguished.

[0275] That is, since each constituent element shown in the drawings conforms to the constituent element used to effectively illustrate the technical idea according to the present invention, if the function performed by the constituent element of the present invention can be achieved even if each constituent element is integrated or separated, it should be interpreted as belonging to the scope of the present invention, and if it is a constituent element that performs the same or similar function, it should be interpreted as belonging to the scope of the present invention regardless of its naming consistency.

[0276] In addition, the control method of the massage device according to the present invention can be realized as a whole by a collection of data processing, handling, control, calculation, input / output and other related processing or even an algorithm. Therefore, it is natural that it can be realized in the form of software driven by a device, a computer (or an equivalent device), a module or its lower-level structure.

[0277] The arm massage part 220, as a configuration of the massage device 200 according to the present invention, can be arranged on the side of the body massage part 210 for massaging at least a part of the user's body. The arm massage part 220 can be configured to accommodate the user's arm part and can perform various types and methods of massage actions on the accommodated arm part as a target.

[0278] The arm driving unit 230 of the present invention may be configured to perform a function of rotating or moving or retracting (extending and contracting) the arm massage unit 220 in one or more directions according to an internal algorithm for determining whether a user input signal, a preset condition is satisfied, or the function of the arm massage unit 220. It is a matter of course that the arm driving unit 230 may be designed to be controlled by the control unit 250 of the present invention.

[0279] Since the detailed structure of the arm massage part 220 described in this embodiment can correspond to the arm massage part 1200 described in the above embodiment, the detailed contents of the structure, operation, control, etc. of the arm massage part 220 according to this embodiment will be replaced by the above description. The arm driving part 230 of this embodiment also corresponds to the rotation module or arm rotation actuator 1250 of the above embodiment, and thus performs the same operation.

[0280] The body driving unit 240 of the present invention may be configured to adjust or change the position, posture or angle of the body massaging unit 210 according to an internal algorithm for determining a user input signal, whether a preset condition is satisfied, or the function of the body massaging unit 210 .

[0281] As described above, it is natural that the body driving part 240 of the present invention can slide the body massaging part 210 forward or backward. It is also natural that the body driving part 240 can also be designed to be controlled by the control part 250 of the present invention.

[0282] The control unit 250 of the present invention is configured to start the standing mode (step S110) (see Fig.24 ), the body driving unit 240 is controlled so that the body massage unit 210 stands forward, and the arm driving unit 230 is controlled so that the angle of the arm massage unit 220 becomes the reference angle.

[0283] The standing mode described in the present invention is a mode or its equivalent mode for controlling the posture, position, etc. of the body massage part 210 in a manner for tilting the body massage part 210 forward or for tilting the body massage part 210 while rising, which corresponds to an inherent action mode limited to the present invention for improving the convenience, convenience, safety, stability, etc. of the user's behavior of leaving the massage device 200.

[0284] Since the state based on the standing mode corresponds to the standing assist state of the above-mentioned embodiment, it can naturally include the state in which the seat frame 31 is lowered by an appropriate angle with respect to the axis forming a horizontal axis relative to the ground, and the backrest frame 32 is rotated forward to approach the vertical axis, as described above.

[0285] The massage device 200 according to this embodiment is configured such that when the standing mode is driven, not only the position, posture, and angle of the body massage part 210 change, but also the angle, length, posture, etc. of the arm massage part 220 and / or the leg massage part 260 change.

[0286] When this embodiment of the present invention is used, the convenience, stability, and safety accident prevention efficiency of leaving the seat (the action of leaving the massage device 200 or an action equivalent thereto) are further improved. In this regard, the combination standing mode described in the present invention can be regarded as a mode in which the posture, angle, length, etc. of the body massage part 210 and the arm massage part 220 are changed together.

[0287] The standing mode (abbreviation of "combined standing mode") can be configured to be activated (start execution) in various ways, such as when the massage being performed ends, when a user inputs a selection signal, or when a predetermined condition is satisfied (step S110).

[0288] If a command signal for the standing mode is received and the standing mode is started (step S110), the control unit 250 of the present invention can be configured to generate control signals (first control signal and second control signal) for driving the body massage unit 210 and the arm massage unit 220 respectively (step S120), and output the generated first control signal and second control signal to the body driving unit 240 and the arm driving unit 230 (step S130A, step S130B).

[0289] If the first control signal is received from the control unit 250 (step S130A), the body driving unit 240 of the present invention drives the body massage unit 210 based on the first control signal, thereby making the body massage unit 210 stand forward (step S140A). If the second control signal is received from the control unit 250 (step S130B), the arm driving unit 230 of the present invention drives the arm massage unit 220 to rotate, thereby making the angle of the arm massage unit 220 the reference angle (step S140B).

[0290] When the body massage part 210 is in the standing position due to the driving of the standing mode, the body massage part 210 is tilted forward at an angle (hereinafter referred to as a "standing angle") B2 (refer to Fig.29 ) can be set in various ways according to the user's choice, and it is preferably set to an angle that can fully assist the user in standing or leaving the seat (for example, 60 to 80 degrees based on the ground, etc.) compared to a case where the user's body is excessively tilted forward.

[0291] When the standing mode is executed, similar to the standing angle, the reference angle formed by the arm massage part 220 is preferably configured to be automatically set by utilizing user identification information in a database, or to be set in a changeable manner by utilizing a user selection of an interactive device (such as the aforementioned user input part 1140).

[0292] The reference angle is preferably set to an angle that is horizontal to the ground or an angle equivalent thereto, so that the user can easily move his or her body forward by auxiliary use of appropriate supporting force of the arms or hands.

[0293] According to an embodiment, when the length of the arm massage part 220 is configured to be expandable / contractive, when the standing mode is driven, the length of the arm massage part 220 is extended by the control of the control part 250, etc., thereby guiding the physical support of the arm area to be achieved more stably.

[0294] As described above, when the angle of the arm massage part 220 is changed to a reference angle (horizontal angle, etc.), or the length of the arm massage part 220 is extended, it can provide a walking guide for some users with limited mobility, thereby guiding them to leave the seat more safely.

[0295] According to the embodiment, the control unit 250 of the present invention can control the arm massage unit 220 so that the arm massage unit 220 is opened (expanded) at an appropriate angle to the outside. When this embodiment is implemented, the space for the user to leave the massage device 200 can be further ensured, thereby more effectively realizing the convenience of leaving the seat.

[0296] The operation of changing the posture of the body massage part 210 to the standing posture and the operation of changing the angle of the arm massage part 220 to the reference angle are both for effectively realizing the convenience of the user leaving the seat, and therefore, they can be performed separately.

[0297] However, if one action is performed in a completely different time interval from another action, it will not only reduce time efficiency, but also cause inconvenience to the user. Therefore, the time intervals for performing the actions of the body massage part 210 and the arm massage part 220 based on the standing mode are preferably partially overlapped or overall corresponding to each other.

[0298] From this point of view, in order to improve the time efficiency and user predictability of changing the user's posture to the posture most suitable for leaving a seat, the control unit 250 of the present invention can be configured to control the arm driving unit 230 during the process of changing the posture of the body massage unit 210 to the standing posture in the standing mode, thereby forming the angle of the arm massage unit 220 as a reference angle.

[0299] More preferably, the control unit 250 of the present invention may control the time point when the standing posture of the body massage part 210 ends and the time point when the angle of the arm massage part 220 becomes the reference angle correspond to each other.

[0300] The arm massage part 220 may be provided with a plurality of (reference numerals: 1201, 1202, see Figure 1 ), it is a matter of course that the plurality of arm massage parts 220 can be driven individually or in linkage with each other by the first arm driving part 230A and the second arm driving part 230B as respective driving parts.

[0301] The leg massage part 260 as one configuration of the massage device 200 according to the present invention may be disposed at the lower portion of the body massage part 210 and may be configured to accommodate the leg / foot area of ​​the user and may perform various kinds and modes of massage actions targeting the accommodated leg / foot area.

[0302] The leg driving unit 270 of the present invention may be configured to perform a function of rotating or moving or retracting (extending and contracting) the leg massaging unit 260 according to an internal algorithm for determining whether a user input signal, a preset condition is satisfied, or the function of the leg massaging unit 260. It is a matter of course that the leg driving unit 270 may be designed to be controlled by the control unit 250 of the present invention.

[0303] like Fig.23 As shown, in order to drive the individual leg massage parts, it is a matter of course that the leg driving part 270 of the present invention may include a first leg driving part 270 and a second leg driving part 270 .

[0304] Since the leg massage part 260 described in this embodiment can correspond to the leg massage part 1300 described in the above embodiment, the details of the structure, operation, control, etc. of the leg massage part 260 according to this embodiment will be replaced by the above description. The leg driving part 270 of this embodiment also corresponds to the leg angle actuator 1350, etc. of the above embodiment, and therefore performs the same operation.

[0305] When the standing mode is started, the control unit 250 of the present invention may be configured to control the leg driving unit 270 so that the angle C1 formed between the lower part of the leg massage unit 260 and the ground is Fig.29 ) is horizontal.

[0306] When this embodiment is implemented, it is possible to effectively prevent the user from slipping, etc., and it is possible to improve the convenience and safety of the user when stepping forward outside the massage device 200.

[0307] As described above, when using the massage device 200 according to an embodiment of the present invention, when the standing mode is driven (executed), the angle, posture, length, position, etc. of one or more of the body massage part 210, the arm massage part 220 and the leg massage part 260 will be adjusted to be optimally applied to the process of leaving the seat.

[0308] Fig.28 The diagram shows the operation process of the body massage part 210 , the arm massage part 220 , and the leg massage part 260 of the massage device 200 based on the driving in the standing mode in chronological order (A→B→C→D). Fig.28 Part D and Fig.29 Part B of FIG. 1 is a diagram showing an example of the massage device 200 in a state after the standing mode ends.

[0309] Fig.251 is a flowchart for explaining a processing procedure according to an embodiment of the present invention. If the standing mode is started (step S200), the control unit 250 of the present invention confirms the current state (angle, length, position, etc.) of one or more of the body massage unit 210, the arm massage unit 220 and the leg massage unit 260 (step S210).

[0310] Various methods can be applied to the method of confirming the current state, for example, a method using a sensing signal of a sensor that senses the position, length, angle, etc. of the corresponding structure, and a method using drive-related information (the number of revolutions of a motor or gear, the moving length of a cylinder or a working rod, etc.) of an actuator or a driving part that drives the corresponding structure.

[0311] As described above, since information on the standing angle of the body massage part 210, information on the reference angle of the arm massage part 220 based on the standing mode, etc. can be stored in advance, the control part 250 of the present invention uses this stored information, etc. to calculate the angular displacement of the body massage part 210, the arm massage part 220, etc. for executing the standing mode.

[0312] Specifically, the control unit 250 of the present invention can be configured to calculate the difference between the current angle (position, etc.) of the body massage unit 210 and the standing angle (angle of the standing posture) (step S220A) and the difference between the current angle of the arm massage unit 220 and the reference angle (step S220B).

[0313] When the calculation process as described above is completed, the control part 250 of the present invention determines the rotation angular velocity of the body massage part 210 and / or the rotation angular velocity of the arm massage part 220 using the calculation result (step S230).

[0314] The rotational angular velocity may be configured to be determined using hardware specifications (Spec.) of a driving unit (actuator, etc.) and / or appropriate timing information for switching to the standing mode.

[0315] As described above, if the rotational angular velocity of the body massage part 210 and / or the arm massage part 220 is determined, the control part 250 of the present invention generates a control signal including the determined rotational angular velocity information (step S240) and sends it to the body driving part 240 and / or the arm driving part 230 (step S250).

[0316] As described above, in order to improve user convenience, movement stability, time efficiency of transition to standing mode, etc., the time point when the standing posture of the body massage part 210 ends and the time point when the angle of the arm massage part 220 becomes the reference angle preferably correspond to each other.

[0317] As a specific embodiment of this, the control unit 250 of the present invention may be configured to determine the rotational angular velocity of the arm massaging unit 220 in the standing mode by using the following formula.

[0318] [Formula 1]

[0319]

[0320] In the above formula, W A A is the rotational angular velocity of the arm massage part 220 in the standing mode; A W is the angular displacement of the arm massage part 220 to form a reference angle; B A is the rotational angular velocity of the body massage part 210 in the standing mode; B This is the angular displacement amount of the body massaging part 210 in order to change to the standing posture of the body massaging part 210.

[0321] The formula is a formula based on the premise that the time required for the posture of the body massage part 210 to be converted to the standing posture and the time required for the angle of the arm massage part 220 to be converted to the reference angle in the standing mode correspond to each other. Therefore, when the rotational angular velocity of the arm massage part 220 is determined by the formula, the time point when the standing posture of the body massage part 210 ends and the time point when the angle of the arm massage part 220 becomes the reference angle correspond to each other.

[0322] The formula is a formula for determining the rotational angular velocity of the arm massage part 220 by using the rotational angular velocity of the body massage part 210 as a parameter. In view of this, if the rotational angular velocity of the arm massage part 220 is determined in advance, the rotational angular velocity of the body massage part 210 can also be determined by transformation of the formula. Even if the same method as this is applied, the time point when the standing posture of the body massage part 210 ends and the time point when the angle of the arm massage part 220 becomes the reference angle correspond to each other.

[0323] According to an embodiment, the angular displacement amount (A2-A1) of the arm massage part 220 in the standing mode may be set to be greater than the angular displacement amount (B2-B1) of the body massage part 210 in the standing mode (refer to Fig.29 ).

[0324] According to this implementation structure, not only can the action relationship between the arm massage part 220 and the body massage part 210 be distinguished more clearly, but also the phenomenon of the user's body tilting forward due to the change in the angle (slope) of the body massage part 210 can be effectively suppressed by the rotation of the arm massage part 220 with a larger displacement.

[0325] Fig.26is a flowchart for explaining a processing procedure according to another embodiment of the present invention. Fig.26 The embodiment of the present invention described in is an embodiment in which a restoration mode for restoring (returning) the body massage part 210 and / or the arm massage part 220 to a reference position or the like is executed before the operation in the standing mode is performed.

[0326] When the standing mode is started (step S300 ), the control unit 250 of the present invention checks whether the reference position restoration mode is selected according to user settings or the like (step S310 ).

[0327] If the reference position restoration mode is not selected, the process for the standing mode as described above is directly executed (step S350 ).

[0328] If the reference position restoration mode is selected (step S310 ), the control unit 250 of the present invention performs a process for restoring the leg massage unit 260 and / or the arm massage unit 220 to a reference position, reference posture, reference length, etc. (step S320 ).

[0329] If the standing mode is directly driven in the current state of the body massage part 210, the arm massage part 220, the leg massage part 260, etc., the user may be injured, etc. Therefore, it is preferred to give priority to executing the drive for returning the body massage part 210, the arm massage part 220, the leg massage part 260, etc. to the most general state (for example, the normal state or ordinary state, normal state, of the above-mentioned embodiment).

[0330] As a specific embodiment, when the standing mode is started, the control unit 250 of the present invention can control the length or angle of the leg massage unit 260 to be a first reference value, and can control the angle of the arm massage unit 220 to be a second reference value.

[0331] The first reference value may refer to the length and / or angle of the leg massage part 260 according to the normal state (reference position) of the massage device 200, and the second reference value may refer to the length and / or angle of the arm massage part 220 according to the normal state of the massage device 200.

[0332] Preferably, the control unit 250 of the present invention can utilize the sensing signal output by the sensing sensor 280 for sensing the position of the leg massage unit 260 and / or the arm massage unit 220, etc., to perform processing (step S330) for confirming that the leg massage unit 260 and / or the arm massage unit 220 has been restored (returned) to the reference position.

[0333] According to the massage device 200 of the present invention, such a structure can not only effectively prevent the user from being injured, but also prevent erroneous operation of the device, etc.

[0334] That is, the control unit 250 of the present invention controls the execution of the process in the standing mode (step S350) only when confirming that the leg massage unit 260 and / or the arm massage unit 220 has returned to the reference position (step S340).

[0335] In the case where the arm massage part 220 and / or the leg massage part 260 do not return to the reference position even when the reference position return mode is driven, there may be problems such as erroneous operation of the device, or there may be problems such as an object (a part of the body, clothing, an external object, etc.) intervening in the rotation / movement path of the arm massage part 220 and / or the leg massage part 260.

[0336] Therefore, preferably, when a sensing signal indicating that the arm massage part 220 and / or the leg massage part 260 has not returned to the reference position is received from the sensing sensor 280 (step S350), the control part 250 of the present invention controls the output of prompt information that matches the current situation through a screen display means, an audio output means, etc. (step S360). If the user is listening to music through headphones, speakers, etc. provided in the massage device 200, it can be controlled to drive a vibration device (haptic) provided in the massage device 200.

[0337] In addition, after the standing mode is terminated (step S350), when the reference time has passed or the sensor or the like confirms that no user signal is sensed, i.e., when it is confirmed that the user has not sat on the massage device 200 (step S370), the control unit 250 of the present invention can control the arm massage unit 220 and / or the leg massage unit 260 to restore (return) to the reference position (step S380). In this case, it is natural that the body massage unit 210 in the standing posture state can also return to the predetermined reference position (normal state).

[0338] Fig. 27 This is a flowchart for explaining an embodiment of the present invention in which the airbags 221 and 261 are controlled.

[0339] When the standing mode is driven (step S400 ), the first airbag 221 provided at the arm massage part 220 and / or the second airbag 261 provided at the leg massage part 260 may be controlled to expand (step S410 ).

[0340] As described above, the standing mode is a mode for improving the convenience of leaving a seat, and therefore the user's body may lean forward in the standing mode. Therefore, especially for children with weak strength, the elderly, or users with physical disabilities, safety accidents may occur during the execution of the standing mode, and if the user takes emergency action before the standing mode ends, safety accidents such as slipping may also occur.

[0341] When the standing mode is implemented, the massage device 200 according to the present invention can be controlled so that the first airbag 221 provided in the arm massage part 220 and / or the second airbag 261 provided in the leg massage part 260 are expanded (step S410), thereby guiding the user's body to be firmly supported even if the user's body tilts forward or the user's posture changes.

[0342] The control unit 250 of the present invention can control the first airbag 221 and / or the second airbag 261 to expand at the time point when the standing mode is started. According to the embodiment, the first airbag 221 and / or the second airbag 261 can be controlled to gradually expand based on the time point when the standing mode is started, so as to minimize the inconvenience or pressure of the user. In the early stage of the standing mode, the inclination rate of the body massage unit 210 will not change significantly. Therefore, even with the above-mentioned structure, it will not have a significant impact on the occurrence of safety accidents.

[0343] Through this structure, the massage device 200 according to the present invention can effectively prevent problems that may occur during the process of achieving the standing mode, and can further improve the action integrity of the standing mode.

[0344] When the standing action in the standing mode ends (step S420), for example, when the angle of the arm massage part 220 forms a reference angle or the standing posture of the body massage part 210 ends, the control part 250 of the present invention can control the first airbag 221 to shrink to increase the freedom of the user's behavior.

[0345] In view of this, when the lower part of the leg massage part 260 is level with the ground or the standing posture of the body massage part 210 ends, the control part 250 of the present invention controls the second airbag 261 to shrink (step S430).

[0346] Although the present invention has been described above through limited embodiments and drawings, the present invention is not limited thereto, and it is natural that a person skilled in the art in the art to which the present invention belongs can make various modifications and variations within the technical concept of the present invention and the scope of the claims to be recorded.

[0347] In the above description of the present invention, modifiers such as first and second, etc. are merely instrumental terms used to relatively distinguish constituent elements from each other, and therefore should not be construed as terms used to indicate a specific order, priority, etc.

[0348] The description of the present invention and the drawings showing its embodiments may be shown in a somewhat exaggerated form in order to emphasize or highlight the technical content according to the present invention, but considering the above content and the matters shown in the drawings, it is natural that various forms of deformation applications can be made at the level of technical personnel in this field.

[0349] The control method of the massage device 100 according to the present invention described above can be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all kinds of recording devices (CD-ROM, random access memory, read-only memory, floppy disk, magnetic disk, hard disk, magneto-optical disk, etc.) storing data readable by a computer, and also includes a server for wired / wireless network transmission.

Claims

1. A massage device, characterized in that: include: a body massage portion for massaging at least a portion of a user's body; an arm massage part, arranged on the side of the body massage part; An arm driving part, causing the arm massage part to rotate in more than one direction; a body driving part for changing the position or posture of the body massaging part; and The control unit controls the body driving unit so that the body massage unit stands forward, and controls the arm driving unit so that the angle of the arm massage unit becomes a reference angle when the standing mode starts to be executed.

2. The massage device according to claim 1, characterized in that: The reference angle is an angle formed by the arm massage part and the ground being horizontal.

3. The massage device according to claim 1, characterized in that: The reference angle is set to be changeable according to user identification information or the user's selection.

4. The massage device according to claim 1, characterized in that: In the standing mode, while the posture of the body massaging part is changed to the standing posture, the control part controls the arm driving part so that the angle of the arm massaging part becomes the reference angle.

5. The massage device according to claim 1, characterized in that: The control unit controls the body massage unit to end the standing posture at a time point and the arm massage unit to have an angle at the reference angle so as to correspond to each other.

6. The massage device according to claim 1, characterized in that: The control unit determines the rotation angular velocity of the arm massage unit in the standing mode by the following formula: In the above formula, W A is the rotational angular velocity of the arm massage part in the standing mode, A A is the angular displacement of the arm massage part to form the reference angle, W B is the rotational angular velocity of the body massage part in the standing mode, A B It is the angular displacement amount of the body massaging part in order to change to the standing posture of the body massaging part.

7. The massage device according to claim 1, characterized in that: The angular displacement amount of the arm massage part in the standing mode is greater than the angular displacement amount of the body massage part in the standing mode.

8. The massage device according to claim 1, characterized in that: Also includes: a leg massage part, arranged below the body massage part, and A leg driving part, for adjusting the length or angle of the leg massage part; When the standing mode is performed, the control part controls the leg driving part so that the lower part of the leg massaging part is level with the ground.

9. The massage device according to claim 8, characterized in that: When the standing mode starts, the control unit preferentially executes a reference position restoration mode in which the length or angle of the leg massage part is controlled to be a first reference value or the angle of the arm massage part is controlled to be a second reference value.

10. The massage device according to claim 9, characterized in that: The massage apparatus further comprises a sensing sensor, wherein the sensing sensor is used to sense the position of the leg massage part or the arm massage part. The control unit performs the control operation in the standing mode only when confirming that the reference position of the leg massage unit or the arm massage unit has been restored using the sensing signal received from the sensing sensor.

11. The massage device according to claim 1, characterized in that: It also includes a first air bag arranged on the arm massage part, When the standing mode is executed, the control portion controls the first airbag to expand.

12. The massage device according to claim 11, characterized in that: In the standing mode, when the angle of the arm massage part is formed to the reference angle or the posture of the body massage part is changed to the standing posture, the control part controls the first airbag to contract.

13. The massage device according to claim 8, characterized in that: It also includes a second air bag arranged on the leg massage part, When the standing mode is executed, the control portion controls the second airbag to expand.

14. The massage device according to claim 13, characterized in that: In the standing mode, when the lower portion of the leg massage part is parallel to the ground or the posture of the body massage part is changed to a standing posture, the control part controls the second airbag to contract.

15. A method for controlling a massage device, which is a method for controlling a massage device, the massage device comprising: a body massaging portion for massaging at least a portion of a user's body, The arm massage part is arranged on the side of the body massage part, an arm driving part for rotating the arm massage part in one or more directions, and The body driving part changes the position or posture of the body massage part; characterized in that: The control method of the massage device comprises: a signal input step of inputting a start signal for a standing mode in which the body massaging part stands forward; and The step of controlling the body driving part so that the body massage part stands forward and controlling the arm driving part so that the angle of the arm massage part becomes a reference angle.

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