Massage device providing swing action and control method of massage device

Abstract

According to one embodiment of the present invention, a massage device is provided. Comprises: a body massage unit for massaging at least a part of the body of a user; a first leg massage part disposed at the lower part of the body massage part; a second leg massage unit disposed at the lower part of the body massage unit; a first horizontal drive unit that rotates or moves the first leg massage unit in the horizontal direction; a second horizontal drive unit that rotates or moves the second leg massage unit in the horizontal direction; and a control unit that controls one or more of the first horizontal drive unit and the second horizontal drive unit so as to implement a swing operation, which is an operation of rotating or moving one or more of the first leg massage unit and the second leg massage unit in the horizontal direction.

Description

Technical Field

[0001] The present invention relates to a massage device including a rotatable leg massage unit, and more particularly, to a massage device that provides a swinging motion including various motions or actions such as horizontal rotation of the legs. Background Art

[0002] Massage refers to a medical auxiliary therapy that adjusts the physical changes of a massage subject by applying various mechanical stimuli to a local part of the massage subject's body, such as kneading, pressing, stretching, patting, or moving the body, which helps blood circulation and relieves the fatigue of the massage subject.

[0003] As eating habits, lifestyles, activity areas, life styles, etc. have changed, and the interest in health and work-life-balance, etc. has increased, the demand for massage devices or massage equipment, etc. (hereinafter, collectively referred to as "massage devices") for providing functions such as relaxing muscles, relieving tension, recovering fatigue, relieving stress, etc. is constantly increasing.

[0004] In recent years, massage devices have no longer been simply at the level of providing massage to the user's body, but have also realized the characteristics of electronic devices for providing various additional functions, convenience functions, medical auxiliary functions, etc.

[0005] However, these functions added to the massage device are only functions for providing assistance to increase the user convenience for using the massage device such as the interface, or to enable other activities other than massage to be performed more conveniently, and are to a certain extent unrelated to functions that provide direct stimulation or effects to the user's body, such as exercise, stretching, etc.

[0006] Although some massage devices have the function of driving an arm massage unit or a leg massage unit, this function can only be used for limited purposes, for example: improving the convenience or safety when the user rides (sits, etc.) on the massage device, or adjusting the length to match the user's body size. Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] The present invention is proposed in the above background, and its purpose is to provide a massage device that naturally guides a user to perform various motions or actions including horizontal rotation (movement) by using the organic motion relationship of the leg massage unit provided in the massage device, and can provide direct effects to the user's body.

[0009] 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. Additionally, the objects and advantages of the present invention can be achieved through the configurations shown in the claims and the combinations of the configurations.

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

[0011] Means for Solving the Problem

[0012] According to an embodiment of the present invention for achieving the above object, a massage device may be configured to include: a body massage unit that massages at least a part of a user's body; a first leg massage unit disposed below the body massage unit; a second leg massage unit disposed below the body massage unit; a first horizontal drive unit that rotates or moves the first leg massage unit in a horizontal direction; a second horizontal drive unit that rotates or moves the second leg massage unit in a horizontal direction; and a control unit that controls one or more of the first horizontal drive unit and the second horizontal drive unit to implement a swinging motion that is a motion of rotating or moving one or more of the first leg massage unit and the second leg massage unit in a horizontal direction.

[0013] Wherein, the control unit of the present invention may be controlled such that the rotation or movement directions of the first leg massage unit and the second leg massage unit alternate to repeat an action of moving away from each other and an action of approaching each other of the first leg massage unit and the second leg massage unit with respect to the horizontal direction.

[0014] According to an embodiment, the control unit of the present invention implements the swinging motion only on one of the first and second leg massage units, and in this case, the control unit controls in a manner of fixing the position of the other one.

[0015] Preferably, a massage device according to an embodiment of the present invention may further include: a first vertical drive unit that rotates or moves the first leg massage unit in an up-and-down direction; and a second vertical drive unit that rotates or moves the second leg massage unit in an up-and-down direction.

[0016] In this case, the control unit of the present invention may control one or more of the first horizontal drive unit, the first vertical drive unit, the second horizontal drive unit, and the second vertical drive unit to rotate or move one or more of the first leg massage unit and the second leg massage unit in a three-dimensional space direction.

[0017] In addition, the control unit of the present invention may be controlled in such a manner that the outward rotation or movement in the horizontal direction of the first or second leg massage unit is linked to the upward rotation or movement, or the control unit may be controlled in such a manner that the inward rotation or movement in the horizontal direction of the first or second leg massage unit is linked to the downward rotation or movement.

[0018] According to an embodiment, the massage device according to an embodiment of the present invention may further include: a sensing sensor that senses a moving force of a force applied to a leg part of the user that is received in one or more of the first and second leg massage units.

[0019] In this case, the control unit of the present invention may be controlled in such a manner that the swinging motion is formed in a direction corresponding to the direction in which the moving force acts.

[0020] In addition, the control unit of the present invention may be controlled in such a manner that the swinging motion is formed only when the moving force is equal to or greater than a first reference value.

[0021] Furthermore, the control unit of the present invention may be configured to determine the rotation or movement speed of one or more of the first and second leg massage units based on the magnitude of the moving force.

[0022] According to an embodiment, the massage device according to an embodiment of the present invention may further include: a first length adjustment unit that adjusts the length of the first leg massage unit; and a second length adjustment unit that adjusts the length of the second leg massage unit.

[0023] In this case, the control unit of the present invention may be controlled in such a manner that the outward rotation or movement in the horizontal direction of the first leg massage unit or the second leg massage unit is linked to the elongation of the length of the first leg massage unit or the second leg massage unit, or the control unit may be controlled in such a manner that the inward rotation or movement in the horizontal direction of the first leg massage unit or the second leg massage unit is linked to the shortening of the length of the first leg massage unit or the second leg massage unit.

[0024] Preferably, the range of rotation or movement in the horizontal direction of one or more of the first leg massage unit and the second leg massage unit may be variably set based on one or more of user information, user body information, and user selection information.

[0025] In addition, the control unit of the present invention may be configured to generate count information using information on the number of times the rotation or movement directions of the first and second leg massage units are alternated.

[0026] According to an embodiment, the control unit of the present invention may be controlled to output guidance information for guiding the application of force in a specific direction, and may be controlled to form the swinging motion in a direction opposite to the specific direction.

[0027] In this case, the control unit of the present invention may be configured to control one or more of the first horizontal drive unit and the second horizontal drive unit such that during the formation of the swinging motion, the stop action of the stop reference time of the rotation or movement of one or more of the first leg massage unit and the second leg massage unit is performed more than once.

[0028] According to an embodiment, the massage device according to an embodiment of the present invention may further include: a body drive unit that changes the position or posture of the body massage unit. In this case, the control unit of the present invention may control the body drive unit so that the tilting action of tilting the body massage unit backward is performed prior to the swinging motion.

[0029] According to an embodiment, the massage device according to an embodiment of the present invention may further include one or more of a first leg airbag provided in the first leg massage unit and a second leg airbag provided in the second leg massage unit. In this case, the control unit of the present invention may be controlled such that the inflation or contraction of one or more of the first and second leg airbags is linked to the swinging motion.

[0030] In addition, the control unit of the present invention may be controlled such that the outward rotation or movement in the horizontal direction of the first or second leg massage unit is linked to the inflation of the first or second leg airbag, or the inward rotation or movement in the horizontal direction of the first or second leg massage unit is linked to the contraction of the first or second leg airbag.

[0031] According to an embodiment, the massage device according to an embodiment of the present invention may further include: a first vertical drive unit that rotates or moves the first leg massage unit in the vertical direction; a second vertical drive unit that rotates or moves the second leg massage unit in the vertical direction; a first length adjustment unit that adjusts the length of the first leg massage unit; and a second length adjustment unit that adjusts the length of the second leg massage unit.

[0032] In this case, the control unit of the present invention can, when the first leg massage unit and the second leg massage unit are rotating or moving outward, cause the first leg massage unit and the second leg massage unit to rotate or move alternately in different vertical directions, and the control unit controls in such a way that the length of the leg massage unit that rotates or moves upward among the first leg massage unit and the second leg massage unit is reduced, and the control unit controls in such a way that the length of the leg massage unit that rotates or moves downward is increased.

[0033] According to an embodiment, the massage device according to an embodiment of the present invention may further include: an airbag provided at a position corresponding to the waist or pelvic region of the user. In this case, when the first and second leg massage units rotate or move in the same direction, the control unit of the present invention can control the airbag to inflate to physically support the user's body.

[0034] A control method of a massage device according to another aspect of the present invention is a method of controlling a massage device, the massage device including a first leg massage unit and a second leg massage unit disposed below a body massage unit, a first horizontal driving unit for rotating or moving the first leg massage unit in a horizontal direction, and a second horizontal driving unit for rotating or moving the second leg massage unit in a horizontal direction, and may be configured to include: a control step of controlling one or more of the first horizontal driving unit and the second horizontal driving unit to achieve a swinging motion as an action of rotating or moving one or more of the first leg massage unit and the second leg massage unit in a horizontal direction.

[0035] Advantages of the Invention

[0036] In the case of an embodiment of the present invention, through a combination drive of one or more of horizontal rotation (movement), vertical rotation (movement), and length adjustment of the leg massage unit, actions or movements corresponding to the actual action characteristics of the human body structure according to lower body movements, stretching, etc. can be more effectively guided.

[0037] In the case of an embodiment of the present invention, not only can massage, which is an inherent function of the massage device, be provided, but also substantial effects such as rehabilitation, exercise, and stretching for the legs and the like can be provided, thereby further improving the usability and effectiveness of the massage device, etc.

[0038] In the case of an embodiment of the present invention, not only can the legs and the like be driven in the horizontal and vertical directions, but also in various directions in a three-dimensional space combining the horizontal and vertical directions, so that not only can the effects of rehabilitation, exercise, stretching, etc. be further improved, but also higher user directivity can be achieved.

[0039] In the case of an embodiment of the present invention, by controlling the inflation and deflation of airbags provided in the leg massage part, the waist / pelvis, etc. in time sequence, the user's body can be firmly supported or the support can be released, so that not only can the effects of exercise, etc. be more concentrated, but also injuries, etc. can be effectively prevented. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The following drawings attached to this specification show preferred embodiments of the present invention, which, together with the detailed description of the invention to be described later, serve to more effectively understand the technical idea of the present invention. Therefore, it should not be construed that the present invention is limited to the matters described in these drawings.

[0041] Figure 1 It is a diagram showing a massage device according to an embodiment of the present invention.

[0042] Figure 2 It is a diagram for explaining the components of a massage device according to an embodiment of the present invention.

[0043] Figure 3 It is a diagram showing the state after removing the seat cushion from a massage device according to an embodiment of the present invention.

[0044] Figure 4 It is a perspective view showing the state in which a leg massage part according to an embodiment of the present invention is combined with a frame part.

[0045] Figure 5 It is a perspective view showing a leg base part connected to a rotating frame part and an angle adjusting part connected to a seat frame according to an embodiment of the present invention.

[0046] Figure 6 It is for Figure 5 The enlarged rear perspective view of part A.

[0047] Figure 7 It is a perspective view showing the state in which a rotating frame part, a leg driving part, and an angle adjusting part are combined on a seat frame according to an embodiment of the present invention.

[0048] Figure 8 It is a diagram showing a seat frame and a rotating frame part according to an embodiment of the present invention.

[0049] Fig. 9 It is for Figure 7 The enlarged view of part B.

[0050] Fig.10 It is a Fig. 9 Cross-sectional view taken along line I-I'.

[0051] Fig.11 It is showing Fig.10A diagram showing the rotating state of the rotating frame part according to an embodiment of the present invention.

[0052] Fig.12 It is Fig. 9 A cross-sectional view taken along line II-II`.

[0053] Fig.13 A diagram showing the leg driving part according to an embodiment of the present invention.

[0054] Fig.14 A plan view showing the leg massage part coupled to the leg connection frame according to an embodiment of the present invention.

[0055] Fig.15 It is shown Figure 7 A diagram showing the state in which the leg massage part rotates relative to the seat frame in

[0056] Fig.16 A diagram for explaining the operation of the rotation of the leg massage part according to an embodiment of the present invention.

[0057] Fig.17 A perspective view showing the connecting device of the leg massage part of the massage device according to another embodiment of the present invention.

[0058] Fig.18 A side view showing the connecting device of the leg massage part of the massage device according to another embodiment of the present invention.

[0059] Fig.19 A diagram for explaining the swing driving part of the swing adjusting part according to another embodiment of the present invention.

[0060] Fig. 20 A perspective view of the leg angle adjusting part according to another embodiment of the present invention.

[0061] Fig.21 It is cut Fig. 20 A perspective view showing a part of the housing of the gear box of the leg angle adjusting part shown in

[0062] Fig. 22 A diagram showing the state in which the leg massage part rotates upward through the leg angle adjusting part in the massage device according to an embodiment of the present invention.

[0063] Fig.23 A diagram for explaining the operation of the leg massage part relying on the leg massage part connecting device of the massage device according to an embodiment of the present invention.

[0064] Figure 24 to Figure 26 A block diagram showing the detailed configuration of the massage device according to an embodiment of the present invention.

[0065] Fig. 27It is a flowchart illustrating a processing procedure according to an embodiment of the present invention.

[0066] Fig.28 It is a flowchart illustrating a processing procedure according to an embodiment of the present invention for implementing a swinging motion.

[0067] Fig.29 It is a flowchart illustrating a processing procedure for forming a first mode according to an embodiment of the present invention.

[0068] Fig.30 It is a flowchart illustrating a processing procedure for forming a second mode according to an embodiment of the present invention.

[0069] Fig.31 It is a flowchart illustrating a processing procedure according to an embodiment of the present invention that utilizes a moving force.

[0070] Fig.32 It is a diagram illustrating a processing procedure according to an embodiment of the present invention that utilizes reverse driving.

[0071] Fig.33 It is a diagram illustrating a processing procedure for forming a third mode according to an embodiment of the present invention.

[0072] Explanation of Reference Numerals

[0073] 100: Massage device; 210: Body massage part; 220: Body driving part; 230A: First leg massage part; 230B: Second leg massage part; 240A: First leg driving part; 240AH: First horizontal driving part; 240AV: First vertical driving part; 240AL: First length adjusting part; 240B: Second leg driving part; 240BH: Second horizontal driving part; 240BV: Second vertical driving part; 240BL: Second length adjusting part; 250A: First arm massage part; 250B: Second arm massage part; 260A: First arm driving part; 260B: Second arm driving part; 231A(B): First (second) sensing sensor; 232A(B): First (second) leg airbag; 270: Control part; 280: Interface part; 290: Airbag Detailed Description of the Invention

[0074] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Before that, terms or words used in this specification and claims should not be construed as being limited to their ordinary or dictionary meanings. Based on the principle that the inventor appropriately defines the concept of terms in order to best explain his own invention, they should be construed as meanings and concepts that conform to the technical idea of the present invention.

[0075] Therefore, the embodiments described in this specification and the structures shown in the accompanying drawings are only the most preferred embodiment of the present invention, and do not represent the technical idea of the present invention. It should be understood that various equivalents and modifications can be substituted when submitting this application.

[0076] When referring to a certain component being "connected" or "coupled" to another component, it should be understood that it can be directly connected or coupled to the other component, and there may also be other components between them.

[0077] On the contrary, when referring to a certain component being "directly connected" or "directly joined" to another component, it should be understood that there are no other components between them. Other expressions used to describe the relationship between components should also be interpreted in this way.

[0078] The terms used in this specification are only used to describe specific embodiments and are not used to limit the content of the present invention. And unless otherwise clearly specified in the context, the singular form of the expression includes the plural form of the expression.

[0079] The terms "comprising" or "having" in this specification are used to specify the existence of the described features, numbers, steps, actions, components, parts, or combinations thereof. 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, components, parts, or combinations thereof in advance.

[0080] Unless otherwise defined, all terms used in this specification, including technical or scientific terms, have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. Commonly used pre-defined terms should be interpreted as having a meaning consistent with the meaning in the context of the relevant technology. Unless clearly defined in this specification, they should not be interpreted as ideal or overly formal meanings.

[0081] 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 electric motor, a direct current (DC) motor, an alternating current (AC) motor, a linear actuator, an electric actuator, etc., but is not limited thereto.

[0082] Hereinafter, first, the details of the basic embodiment and the driving mechanism of the present invention will be described, and the details of the embodiment of the present invention that provides a swinging action, etc. will be described later.

[0083] In connection with the description of the basic embodiment and the driving mechanism of the present invention, first, with reference to Figures 1 to 16 , an embodiment and a driving mechanism of the present invention will be described, and then, with reference to Figures 17 to 23Other embodiments of the driving mechanism for realizing the vertical rotation and horizontal rotation of the leg massage part will be described later.

[0084] Figure 1 , Figure 2 1 is a diagram showing an embodiment of a massage device 100 according to the present invention. The massage device 100 according to an embodiment of the present invention may include: a body massage part 1000 forming an area for accommodating at least a part of a user's body and massaging the user's body; an arm massage part 3000 massaging the user's arms; and a leg massage part 2000 massaging the user's legs.

[0085] The body massaging part 1000 may provide massage to at least a portion of the user's body.

[0086] Reference Figure 2 According to an embodiment of the present invention, the massage device 100 (specifically, the body massage part 1000) may include: a massage module 1700, which provides a massage function to at least a part of the user's body; an audio output module 1500, which is used to provide the user with any form of audio output; a frame part 1100, which constitutes the frame of the body massage part 1000; and a user input part 1400, which is used to receive any form of input from the user.

[0087] The above structures included in the body massage part 1000 are only exemplary embodiments. In addition to the above structures, the body massage part 1000 may also include various structures.

[0088] In addition, if Figure 1 The shape and structure of the massage device 100 shown are merely examples, and various forms of the massage device 100 may also fall within the scope of the present invention without departing from the scope defined by the claims attached to the present invention.

[0089] The body massage part 1000 may form a space of any shape for accommodating the user. The body massage part 1000 may have a space of a shape corresponding to the shape of the user's body. Figure 1 As shown, the body massage part 100 can be implemented in a seated type capable of accommodating the whole body or a part of the body of the user.

[0090] The portion of the body massage part 1000 that contacts the ground may include any material or any member (eg, an anti-slip pad, etc.) for increasing friction, and may include wheels for enhancing the mobility of the massage device 100 .

[0091] At least a part of the body massage unit 1000 can move slidably. For example, when the body massage unit 1000 starts massaging, at least a part of the body massage unit 1000 can move slidably forward. In addition, the body massage unit 1000 can tilt backward. As a result, the body massage unit 1000 can provide massage in a state of tilting backward.

[0092] According to an embodiment of the present invention, the massage device 100 may include at least one airbag. The airbag may be located in the shoulder part, pelvic part, arm massage unit 3000, leg massage unit 2000, etc. of the user, but is not limited thereto, and may be disposed in multiple parts of the massage device 100.

[0093] The massage device 100 may include an air supply unit that can inflate the airbag by supplying air to the airbag. The air supply unit may be located inside the body massage unit 1000, or may be located in the leg massage unit 2000. In addition, the air supply unit may be located outside the massage device 100.

[0094] The leg massage unit 2000 can provide leg massage to the user. For example, the leg massage unit 2000 may include a calf massage unit for massaging the calf of the user and / or a foot massage unit for massaging the foot of the user.

[0095] The leg massage unit 2000 can adjust its length according to the body characteristics of the user. For example, when a tall user uses the massage device 100, since the length of the calf is long, the length of the leg massage unit 2000 needs to be lengthened. In addition, when a short user uses the massage device 100, since the length of the calf is short, the leg massage unit 2000 needs to be shortened. Therefore, the leg massage unit 2000 can provide leg massage matching the height of the user.

[0096] Refer to Figure 1 , the leg massage unit 2000 respectively accommodates the left leg and the right leg of the user, and may include a plurality of leg massage bodies 2300A, 2300B to massage each leg, and the plurality of leg massage bodies 2300A, 2300B can be independently driven.

[0097] Refer to Figure 2 , the massage module 1700 may be disposed inside the body massage unit 1000 to provide any form of mechanical stimulation to the user accommodated in the body massage unit 1000. As Figure 1 shown, the massage module 1700 can move along the frame portion 1100 inside the body massage unit 1000.

[0098] For example, the frame portion 1100 of the body massage unit 1000 may be provided with a rack gear 1112, refer to Figure 1, while moving along the rack 1112, the massage module 1700 can provide mechanical stimulation to multiple parts of the user's body. The massage module 1700 may include a ball massage unit and / or a roller massage unit, but is not limited thereto.

[0099] Refer to Figure 4 , the frame part 1100 is used to form the frame of the internal structure of the body massage part 1000, and can be implemented by a metal material and / or a plastic material, etc. For example, the frame part 1100 can be implemented by iron, alloy, steel, etc., but is not limited thereto, and can also be implemented by various strong materials.

[0100] Refer to Figure 2 , Figure 5 , according to an embodiment of the present invention, the massage device 100 may include an audio output module 1500. The audio output module 1500 can be set at various positions.

[0101] For example, the audio output module 1500 may include multiple output units, such as an upper audio output unit set at the upper end of the seat part 1000a in contact with the user sitting on the massage device 100, a front audio output unit attached to the front end of the left and right side arm massage parts 3000 of the seat part 1000a, and / or a rear audio output unit attached to the rear end of the arm massage part 3000, etc., but is not limited thereto.

[0102] The seat part 1000a of the massage device 100 according to an embodiment of the present invention may include: an upper body support part for supporting the upper body of the user; and a lower body support part for supporting the lower body of the user.

[0103] The upper body support part contacts the upper body of the user (specifically, from the head to the back) and supports the user's body, and the lower body support part contacts and supports the user's body with the buttocks, thighs, etc. which are the lower area of the upper body support part.

[0104] , according to an embodiment of the present invention, the user can use the massage device control device CD to control the massage device 100. The massage device control device CD can be connected to the massage device 100 through wired communication and / or wireless communication.

[0105] The massage device control device CD may include a remote controller, a cellular phone, a personal digital assistant (PDA), etc., but is not limited thereto, and may include various electronic devices that can be connected to the massage device 100 through wired communication and / or wireless communication.

[0106] Figure 2It is a diagram for explaining the components of a massage device according to an embodiment of the present invention. Figure 3 It is a diagram showing a frame part combined with a leg massage part according to an embodiment of the present invention.

[0107] Refer to Figure 2 According to an embodiment of the present invention, the massage device 100 may include at least one of a frame part 1100, a control part 1200, a storage part 1300, a user input part 1400, an audio output module 1500, a network connection part 1600, and a massage module 1700.

[0108] The frame part 1100 may be a structure forming the frame of the body massage part 1000.

[0109] According to an embodiment of the present invention, the frame part 1100 may include: a body frame provided with the massage module 1700; and a base frame 1130 supporting the body frame.

[0110] The body frame (not provided with a reference numeral) may include: a back frame 1110 forming a frame of the upper body accommodation part of the user; and a seat frame 1120 forming a frame of the seat part.

[0111] At least a part of the body frame may be provided with a rack 1112. The rack 1112 is a member for guiding the up and down movement (with Figure 1 as a reference) of the body massage module 1700, and may include a plurality of valley parts and a plurality of ridge parts.

[0112] According to an embodiment of the present invention, the rack 1112 may be disposed opposite to each other on both sides of the body frame, specifically, the back frame 1110 and the seat frame 1120, and the body massage module 1700 may move along the rack 1112.

[0113] For example, the body massage module 1700 may include a gear meshing with the rack 1112, and the gear rotates through an actuator provided in the body massage module 1700, so that the body massage module 1700 can move upward and / or downward.

[0114] The rack 1112 may be made of a metal material and / or a plastic material. For example, the rack 1112 may be made of iron, steel, alloy, reinforced plastic, melamine resin, phenolic resin, etc., but is not limited thereto.

[0115] The body frame may be implemented in various shapes. For example, the body frame may be classified into an S frame, an L frame, an S&L frame, a double S&L frame according to its shape, but is not limited thereto.

[0116] The S-frame means that at least a part of the body frame includes a frame in a shape curved like an "S". The L-frame means that at least a part of the body frame includes a frame in a shape curved like an "L"; the S&L-frame means a frame that includes both a shape curved like an "S" and a shape curved like an "L"; the double S&L-frame means a frame that includes a shape curved like an "L" and two parts in a shape curved like an "S".

[0117] Referring to Figure 4 , the seat frame 1120 forms the frame of the seat part for the user to sit on and can be connected to the back frame 1110 and the base frame 1130.

[0118] Referring to Figure 8 , the seat frame 1120 according to an embodiment of the present invention may include a leg connection frame 1121. The leg connection frame 1121 may be provided at the front end of the seat frame 1120.

[0119] The leg connection frame 1121 may be integrally formed with the seat frame 1120 or made into a separate member to be combined with the seat frame 1120.

[0120] When the leg connection frame 1121 is integrally formed with the seat frame 1120, the leg connection frame 1121 may refer to a constituent element of the seat frame 1120.

[0121] Referring to Figure 5 , a leg massage part 2000 to be described later, specifically a rotary frame part 2100 and a leg driving part, may be arranged on the leg connection frame 1121 according to an embodiment of the present invention.

[0122] Referring to Figure 8 , a plurality of leg connection frames 1121 may be provided according to an embodiment of the present invention, and the plurality of leg connection frames 1121 may be arranged at a preset distance apart in the height direction (the up and down direction based on Figure 8 ).

[0123] Referring to Figure 8 , the rotary frame parts 2100A and 2100B may be rotatably connected to the plurality of leg connection frames 1121. However, it is not limited to this, and various deformations can be made in real time within the technical idea of the rotatable connection of the rotary frame parts 2100A and 2100B, for example, forming one leg connection frame 1121, or forming three or more leg connection frames 1121, etc.

[0124] A pair of rotating frame parts 2100A and 2100B can be arranged in front of the leg connection frame 1121. For example, one of the pair of leg rotating frame parts 2100A and 2100B, i.e., the rotating frame part 2100A, can be arranged on the front left side of the leg connection frame 1121, and the other rotating frame part 2100B can be arranged on the front right side of the leg connection frame 1121.

[0125] Refer to Figure 4 , a pair of leg massage bodies 2300A and 2300B can be hinge-coupled to the pair of rotating frame parts 2100A and 2100B.

[0126] A leg driving part is arranged on the leg connection frame 1121. The leg driving part 2500 generates power and transmits it to the rotating frame part 2100, enabling the rotating frame part 2100 to rotate relative to the leg connection frame 1121.

[0127] Refer to Figure 3 , Fig. 9 , as the pair of rotating frame parts 2100A and 2100B to which the pair of leg massage bodies 2300A and 2300B are coupled rotate clockwise and / or counterclockwise with respect to the preset rotation central axis AX1 on the leg connection frame 1121, the legs of the user sitting on the massage device 100 rotate inward / outward (rotate in the horizontal direction inward / rotate in the horizontal direction outward), thereby providing effects such as leg movement or stretching to the user.

[0128] The content related to the rotating frame part 2100 and the leg driving part 2500 will be described in detail later.

[0129] Refer to Figure 3 , Figure 4 , a pair of leg massage bodies 2300A and 2300B can rotate in opposite directions with respect to the central part of the frame part 1100 (specifically, the leg connection frame 1121).

[0130] Specifically, the pair of leg massage bodies 2300A and 2300B respectively accommodate the left leg and the right leg of the user, and can be respectively hinge-coupled to the pair of rotating frame parts 2100A and 2100B.

[0131] The pair of rotating frame parts 2100A and 2100B are rotatably connected to the leg connection frame 1121 and can rotate clockwise and / or counterclockwise with respect to their respective rotation central axes.

[0132] According to an embodiment of the present invention, a pair of rotary frame parts 2100A and 2100B are connected to a leg driving part 2500, receive the power generated by the leg driving part 2500, and can rotate the leg massage body 2300 coupled to the rotary frame part 2100 and the rotary frame part 2100.

[0133] Referring to Figure 3 , the pair of rotary frame parts 2100A and 2100B can rotate in opposite directions to each other.

[0134] That is, when the rotary frame part 2100A coupled to any one leg massage body 2300A rotates in the clockwise direction (or counterclockwise direction), the rotary frame part 2100B coupled to the other leg massage body 2300B can rotate in the counterclockwise direction (or clockwise direction).

[0135] Form Figure 1 The side part of the housing (not provided with a reference numeral) forming the appearance of the massage device 100 shown in is illustrated as restricting the movement of the leg massage part 2000 (specifically, the leg massage bodies 2300A and 2300B) in a direction away from each other.

[0136] However, Figure 1 The housing of the massage device of is only for helping understanding, and the side part of the housing can be formed such that the rotary frame part 2100 and the leg massage body 2300 hinge-coupled to the rotary frame part 2100 can perform an outward rotation movement and / or an inward rotation movement of retracting in the lateral direction with respect to the central part of the seat frame 1120 by receiving power from the leg driving part 2500. An opening and closing structure or an opening structure is a matter of course.

[0137] Contents related to the leg massage part 2000 will be described in detail later.

[0138] Referring to Figure 4 , the base frame 1130 refers to a part that supports the body frame in the frame part 1100 and contacts the bottom surface. The base frame 1130 may include a base upper frame (not provided with a reference numeral) and a base lower frame (not provided with a reference numeral).

[0139] The base upper frame can support the body frame, and the base lower frame can contact the ground. In addition, the base upper frame can be disposed in contact with the base lower frame.

[0140] According to an embodiment of the present invention, the base upper frame can move along the base lower frame. For example, the base upper frame can slide forward and / or backward along the base lower frame. In this case, the body frame is connected to the base upper frame and can move with the movement of the base upper frame.

[0141] For example, when the upper frame of the base moves forward, the body frame can also move forward together, and when the upper frame of the base moves backward, the body frame can also move backward together. Therefore, the sliding of the body massage unit 1000 can be allowed.

[0142] The control unit 1200 can control the operation of the massage device 100. The control unit 1200 can include one processor or multiple processors. When the control unit 1200 includes multiple processors, at least a part of the multiple processors can be located at physically separated positions. In addition, the control unit 1200 is not limited to this and can be implemented in various ways.

[0143] For example, the control unit 1200 can correspond to one or more processors. The processor can be implemented by an array of multiple logic gates or by a combination of a general microprocessor and a memory storing a program executable in the microprocessor. In addition, those of ordinary skill in the art to which this embodiment pertains can understand that it can be implemented with other types of hardware.

[0144] According to an embodiment of the present invention, the control unit 1200 can control the operation of the massage device 100.

[0145] For example, the massage device 100 can include multiple actuators, and the massage device 100 can control its operation by controlling the operations of the multiple actuators. For example, the massage device 100 can include at least one of a massage module moving actuator, at least one actuator included in the massage module 1700, a back angle actuator, a leg angle actuator, a foot massage actuator, a leg length adjustment actuator, and a sliding actuator. By controlling these actuators, the control unit 1200 can control the operation of the massage device 100.

[0146] Specifically, the control unit 1200 can control the operations of the leg driving unit 2500, the position adjustment unit 2700, and the angle adjustment unit 2710 (specifically, the angle adjustment driving unit 2715) to be described later.

[0147] The massage module moving actuator, as an actuator capable of moving the massage module 1700 up and down, enables the massage module 1700 to move along the rack through the operation of the massage module moving actuator.

[0148] The back angle actuator is an actuator that adjusts the angle of the part where the user's back contacts the massage device 100, and the back angle of the massage device 100 can be adjusted through the operation of the back angle actuator.

[0149] The leg angle actuator is an actuator for adjusting the angle of the leg massage unit 2000 of the massage device 100. The angle between the leg massage unit 2000 and the body massage unit 1000 can be adjusted by the operation of the leg angle actuator.

[0150] The foot massage actuator is an actuator for operating the foot massage module included in the leg massage unit 2000. By using the foot massage actuator, the massage device 100 can provide foot massage to the user.

[0151] The massage module 1700 may include at least one actuator, and the control unit 1200 can provide various massage operations by operating at least one actuator. For example, the control unit 1200 can provide tapping massage, kneading massage, etc. by operating at least one actuator in the massage module 1700. Without limitation, various massage operations can be provided.

[0152] The leg length adjustment actuator is an actuator for adjusting the length of the leg massage unit 2000. For example, the control unit 1200 can use the leg length adjustment actuator to adjust the length of the leg massage unit 2000 to suit the user. As a result, the user can receive a massage suitable for their body type.

[0153] The sliding actuator enables the massage device 100 to slide. For example, by the operation of the sliding actuator, the upper frame of the horizontal base can move forward and / or backward. As a result, the body frame connected to the upper frame of the horizontal base can also move forward and / or backward.

[0154] The storage unit 1300 can store various information related to the massage device 100. For example, the storage unit 1300 may include massage control information and may also include personal authentication information, but is not limited thereto.

[0155] The storage unit 1300 can be implemented by a non-volatile storage medium capable of continuously storing arbitrary data. For example, the storage unit 1300 may include not only magnetic disks, optical disks, and magneto-optical storage devices, but also storage devices based on flash memory and / or battery backup memory, but is not limited thereto.

[0156] In addition, the storage unit 1300 may include a memory. The memory may be a random access memory (RAM) such as a dynamic random access memory (DRAM) or a static random access memory (SRAM). As the main storage device directly accessible by the processor, it is a volatile storage device in which the stored information is instantly deleted when the power is turned off, but is not limited thereto. Such a memory can be operated by the control unit 1200.

[0157] The user input unit 1400 can receive commands related to the operation control of the massage device 100 from the user, and the user input unit 1400 can be implemented in various forms. For example, the user input unit 1400 may be provided in the body massage unit 1000, and may be provided in the leg massage unit 2000 and the arm massage unit 3000, but is not limited thereto.

[0158] The massage device 100 can obtain various commands from the user through the user input unit 1400. For example, the massage device 100 can receive any commands such as the selection of the massage module, the selection of the massage mode, the selection of the massage intensity, the selection of the massage time, the selection of the massage area, the selection of the position and movement of the body massage unit 1000, the selection of turning on / off (On-Off) the power of the massage device 100, the selection of whether to start the heating function, the selection related to sound source playback, etc., but is not limited thereto.

[0159] As an alternative embodiment, the user input unit 1400 may have various buttons in the form of hot keys and / or option buttons for performing direction selection, cancellation, input, etc. according to a preset user setting function or its own preset function, etc.

[0160] The user input unit 1400 can be implemented as a keyboard, a dome switch, a touchpad (static pressure / electrostatic), a jog dial switch, etc., but is not limited thereto. In addition, the user input unit 1400 can obtain commands based on voice recognition technology according to the user's voice.

[0161] According to an embodiment of the present invention, the user input unit 1400 may include a display for displaying the operation status of the massage device 100 and / 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.

[0162] The audio output module 1500 can provide audio output in any form to the user. For example, the audio output module 1500 can provide brain stimulation to the user by outputting the optimal sound source and / or binaural beats for the massage mode provided by the massage device 100 to the user. The audio output module 1500 may output an audio signal received through a network (not shown) or stored in an internal / external storage medium (not shown).

[0163] For example, the audio output module 1500 can output a sound source based on the control of the user terminal through a network connection (such as a Bluetooth connection, etc.) with the user terminal. In addition, the audio output module 1500 may output any form of audio signal generated in association with the operation of the massage device 100.

[0164] The massage device 100 according to an embodiment of the present invention may include a network connection unit 1600. The network connection unit 1600 can communicate with the modules inside the massage device 100, an external massage device 100, and / or a user terminal through any form of network.

[0165] The network connection unit 1600 may include a wired / wireless connection module for connecting to the network. As a wireless connection technology, for example, Wireless LAN (WLAN) (Wi-Fi), Wireless broadband (Wibro), World Interoperability for Microwave Access (Wimax), High Speed Downlink Packet Access (HSDPA), etc. can be adopted.

[0166] As a wired connection technology, for example, Digital Subscriber Line (XDSL), Fibers to the home (FTTH), Power Line Communication (PLC), etc. can be utilized. Additionally, the network connection unit 1600 may include a short-range communication module capable of transmitting and receiving data with any device / terminal in the vicinity. For example, as short range communication technologies, Bluetooth, Radio Frequency Identification (RFID), infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, etc. can be used, but it is not limited thereto.

[0167] As described above, the massage device 100 according to an embodiment of the present invention may include a massage module 1700. That is, the massage module 1700 is a structure that provides mechanical stimulation to the user, and the massage module 1700 can move along the frame unit 1100.

[0168] The massage device 100 according to an embodiment of the present invention may include a frame unit 1100. Refer to Figure 1 , Figure 4 , as described above, the frame unit 1100 can provide a path along which the massage module 1700 can move.

[0169] The control unit 1200 can control the operation of the massage module 1700 to apply mechanical stimulation to the user to provide a massage.

[0170] The control unit 1200 can move the massage module 1700 in directions such as the X-axis, Y-axis, and Z-axis. The control unit 1200 can move the massage ball forward or backward on the X-axis, Y-axis, and Z-axis. The control unit 1200 can rotate the massage ball around the X-axis, Y-axis, and Z-axis.

[0171] The massage device 100 according to an embodiment of the present invention may include a sensor unit 1800. At this time, the sensor unit 1800 may include at least one sensor. For example, the sensor unit 1800 may include a touch sensor, a pressure sensor, an infrared sensor, an LED sensor, a light sensor, a Hall sensor, an electrostatic sensor, etc., but it is not limited thereto.

[0172] The sensor unit 1800 can be used to obtain various types of information. For example, the sensor unit 1800 can be used to identify the user. That is, information such as whether the user is seated, the user's body shape, and whether there are any abnormalities in the user's body can be obtained. As another example, the sensor unit 1800 can be used to obtain biological information. That is, fingerprint information, facial information, voice information, iris information, weight information, electrocardiogram information, body composition information, etc. can be obtained, but it is not limited thereto, and various biological information can be included.

[0173] As an alternative embodiment, the massage device 100 can sense the contact area and / or contact position with the user through the sensor unit 1800.

[0174] In addition, the massage device 100 can obtain the shoulder position information of the user through the sensor unit 1800.

[0175] In addition, the massage device 100 can provide personalized massage based on the obtained information. For example, when the massage device 100 provides shoulder massage, the massage device 100 identifies the shoulder position of the user according to the information obtained through the sensor unit 1800, and can provide shoulder massage to the user according to the identification result.

[0176] The leg massage unit 2000 can be a component for massaging the user's legs. A leg accommodation space for accommodating the user's legs can be formed on the leg massage unit 2000. Referring to Figure 1 , the leg massage unit 2000 can include a plurality of leg massage bodies 2300A and 2300B, and the plurality of leg massage bodies 2300A and 2300B can receive electrical signals from the control unit 1200 to be independently driven.

[0177] The leg massage unit 2000 can include at least one of an airbag, a calf massage module (not shown), and a foot massage module (not assigned a reference numeral).

[0178] The airbag is a component for fixing at least a part of the user's body. The airbag in the leg massage unit 2000 can be a component that fixes at least a part of the user's body by receiving air from a separately provided air supply unit and expanding.

[0179] The calf massage module (not shown) can be a component for massaging the calf part of the user's legs accommodated therein. At this time, as described above, the calf massage module can include a ball massage unit and / or a roller massage unit, but it is not limited thereto.

[0180] The foot massage part (not shown) can be a structure for massaging the user's feet. The foot massage part can include a foot massage module for massaging the user's feet. The foot massage module can include a ball massage unit and / or a roller massage unit, but it is not limited thereto.

[0181] The arm massage unit 3000 may include an arm insertion unit 3100 into which a user's arm can be inserted. The user can insert their arm into the inner space of the arm insertion unit 3100 to receive the arm massage function.

[0182] Refer to Figures 3 to 15 According to an embodiment of the present invention, a massage device (hereinafter referred to as "massage device") 100 having an inner / outer rotation function of the legs may include a body massage unit 1000, a leg massage unit 2000, and an arm massage unit 3000.

[0183] The massage device 100 according to an embodiment of the present invention can provide various massage functions by adjusting the position of the leg massage unit 2000 (specifically, the leg massage body 2300 into which the user's 10 legs are inserted) that provides a massage function to the user's 10 legs to match the body types of various users 10.

[0184] The description of the body massage unit 1000 and the arm massage unit 3000 is as above. Hereinafter, the leg massage unit 2000 will be described in detail.

[0185] Refer to Figures 3 to 5 、 Figure 7 According to an embodiment of the present invention, the leg massage unit 2000 may include a rotating frame unit 2100, a leg massage body 2300, a leg driving unit 2500, and a position adjusting unit 2700.

[0186] Refer to Figure 4 、 Figure 5 、 Figures 7 to 9 、 Fig.10 According to an embodiment of the present invention, the rotating frame unit 2100 is rotatably connected to the leg connection frame 1121, and a pair of the rotating frame units 2100 are provided to be connected to the leg connection frame 1121.

[0187] A pair of leg massage bodies 2300A and 2300B that accommodate the left and right legs of the user 10 may be hinge-coupled to a pair of rotating frame units 2100A and 2100B, respectively.

[0188] Refer to Figures 7 to 9 According to an embodiment of the present invention, the rotating frame unit 2100 may include a rotating frame body 2110, a rotating shaft portion 2130, a shaft housing 2140, a connecting member 2150, and a mounting cover 2170.

[0189] A pair of rotating frame units 2100 according to an embodiment of the present invention may be provided and may be respectively disposed on both sides with respect to the center of the leg connection frame 1121.

[0190] Refer to Figure 8, the rotation frame body 2110 according to an embodiment of the present invention forms the appearance of the rotation frame part 2100, which can rotate relative to the leg connection frame 1121.

[0191] Referring to Figure 8 , the rotation frame body 2110 can be rotatably connected to the leg connection frame 1121 through a rotation shaft part 2130 to be described later.

[0192] Referring to Figures 8 to 11 , the rotation frame body 2110 according to an embodiment of the present invention can be connected to the moving part 2550 through a connection member 2150 to be described later.

[0193] Therefore, as the moving part 2550 moves by the power generated by a leg driving part 2500 to be described later, the rotation frame body 2110 can rotate in a clockwise direction and / or a counterclockwise direction on the leg connection frame 1121 based on a preset rotation center axis AX1.

[0194] Referring to Figures 7 to 9 , groove-shaped mounting parts 2111 can be formed on both sides of the rotation frame body 2110 according to an embodiment of the present invention for mounting a shaft housing 2140 to be described later.

[0195] Referring to Figure 5 , Figure 8 , a hinge shaft (not shown) formed on the leg base part 2310 can be rotatably inserted into the inside of the shaft housing 2140 mounted on the mounting part 2111 according to an embodiment of the present invention.

[0196] The shaft housing 2140 according to an embodiment of the present invention is fastened and fixed in position to the mounting part 2111 formed on the rotation frame body 2110 by fastening members such as bolts. The hinge shaft formed on the leg massage body 2300 (specifically, the leg base part 2310) rotates inside the shaft housing 2140, and the leg massage body 2300 can perform a hinge movement relative to the rotation frame body 2110.

[0197] As an alternative embodiment, the shaft housing 2140 is rotatably mounted in a state where it is not fixed in position on the mounting part 2111 formed on the rotation frame body 2110. The hinge shaft formed on the leg massage body 2300 (specifically, the leg base part 2310) rotates on the mounting part 2111 in a state of being combined with the shaft housing 2140, and the leg massage body 2300 can perform a hinge movement relative to the rotation frame body 2110.

[0198] According to one embodiment of the present invention, the shaft housing 2140 is constructed separately from the leg massage body 2300, but is not limited to this. Various modifications can be implemented. For example, the shaft housing 2140 is formed integrally with the hinge axis formed on the leg massage body 2300 (specifically, the leg base 2310) and is rotatably configured on the mounting portion 2111.

[0199] That is, in this case, the leg massage body 2300 may be mounted on the mounting portion 2111 formed on the rotating frame body 2110. The shaft housing 2140 according to an embodiment of the present invention may be made of metal and / or plastic material.

[0200] Reference Figure 7 , Figure 8 , a mounting cover 2170 to be described later can be combined with a mounting portion 2111 formed on a rotating frame body 2110 according to an embodiment of the present invention.

[0201] Specifically, the mounting cover 2170 may cover the shaft housing 2140 mounted on the mounting portion 2111 and be combined with the rotating frame body 2110 .

[0202] Therefore, the shaft housing 2140 can be arranged on the mounting portion 2111 while maintaining the rotation center axis, and the rotation center axis can be prevented from being separated.

[0203] Reference Figure 8 In the present invention, the shaft housing 2140 is fixedly positioned at a mounting portion 2111 formed on the rotating frame body 2110. Although a mounting cover 2170 capable of covering the shaft housing 2140 is disclosed, this is merely an example, and various modifications may be implemented, such as not providing the mounting cover 2170.

[0204] Reference Figures 7 to 9 According to an embodiment of the present invention, a rotating shaft portion 2130 (specifically, a shaft body 2131 ) to be described later may be inserted into the rotating frame body 2110 , and the lengthwise central axis of the shaft body 2131 may form the rotational central axis AX1 of the rotating frame body 2110 .

[0205] Reference Fig. 9 The rotating frame portion 2100 (specifically, the rotating frame body 2110 ) can be spaced apart from the center of the rotating frame body 2110 at a preset distance relative to the rotation center axis AX1 of the leg connecting frame 1121 .

[0206] Specifically, the rotation center axes respectively formed in the pair of rotating frame bodies 2110A and 2110B may be formed in a manner extending from the center of each rotating frame body 2110A and 2110B toward the outside.

[0207] That is, refer to Figure 8, the rotation center axis AX1 of the rotary frame body 2110 hingedly coupled to the leg massage body 2300A for insertion of the left leg of the user 10 can be formed at a preset distance from the center of the rotary frame body 2110 in the direction approaching the arm massage unit 3000 for insertion of the left arm of the user 10.

[0208] In other words, the rotation center axis of the rotary frame body 2110 hingedly coupled to the leg massage body 2300B for insertion of the right leg of the user 10 can be formed at a position at a preset distance from the center of the rotary frame body 2110 in the direction approaching the arm massage unit 3000 for insertion of the right arm of the user 10.

[0209] Therefore, the rotation center axis is formed near the hip of the user 10, and the function of internally rotating and / or externally rotating the legs of the user 10 can be effectively provided.

[0210] Refer to Figure 8 , at least one fastening hole portion 2110h may be formed in the rotary frame body 2110 according to an embodiment of the present invention.

[0211] The rotation shaft portion 2130 (specifically, the shaft body 2131) to be described later can be inserted into the rotary frame body 2110, and the fastening hole portion 2131h formed in the shaft body 2131 can communicate with the fastening hole portion 2110h formed in the rotary frame body 2110.

[0212] Although not shown, a shaft fastening member such as a bolt can penetrate the fastening hole portions 2110h and 2131h formed in the rotary frame portion 2100 (specifically, the rotary frame body 2110) and the shaft body 2131 to fasten the rotary frame body 2110 and the shaft body 2131.

[0213] According to an embodiment of the present invention, a plurality of shaft fastening members may be provided, and the plurality of shaft fastening members can penetrate and fasten the rotary frame portion 2100 (specifically, the rotary frame body 2110) and the shaft body 2131 at multiple portions with the central axis in the length direction of the shaft body 2131 (based on the up and down direction of Figure 8 ).

[0214] Refer to Figure 8 , a connection hole portion 2113 may be formed in the rotary frame body 2110 according to an embodiment of the present invention.

[0215] Since the connection member 2150 to be described later passes through the connection hole portion 2113 and the slit portion 2551 formed in the moving portion 2550, the rotary frame body 2110 and the moving portion 2550 can be connected.

[0216] Accordingly, the power generated by the leg driving unit 2500 is transmitted to the rotating frame body 2110 through the moving unit 2550, and the rotating frame body 2110 can rotate relative to the leg connection frame 1121.

[0217] As the rotating frame body 2110 rotates, the leg massage body 2300 hingedly coupled to the rotating frame body 2110 rotates relative to the leg connection frame 1121 by a preset or variably set angle, having an effect of providing an inward and / or outward rotation movement of the leg to the user 10.

[0218] Refer to Fig.14 , on the rotating frame body 2110 according to an embodiment of the present invention, the extension portion 2115 may be formed to extend in an outward direction. Specifically, the extension portion 2115 may be formed on the bottom surface of the rotating frame body 2110.

[0219] Refer to Fig.14 , the extension portion 2115 may be disposed opposite to the rotation center axis AX1 of the leg connection frame 1121 with respect to the center of the rotating frame body 2110.

[0220] When the front direction in the state where the user 10 is seated on the massage device 100 is defined as "front", the extension portion 2115 may protrude and extend toward the rear side of the rotating frame body 2110.

[0221] Refer to Fig. 9 , the leg driving unit 2500 to be described later may include: a frame support portion 2595 that contacts and supports one side of the rotating frame portion 2100. The frame support portion 2595 may contact and support the extension portion 2115 formed to extend toward the rear of the rotating frame portion 2100 (specifically, the rotating frame body 2110).

[0222] Since the extension portion 2115 is formed to extend toward the rear side of the rotating frame body 2110, even if the rotating frame body 2110 rotates by a preset angle on the leg connection frame 1121, it can be contacted and supported by the frame support portion 2595, thereby preventing the rotating frame portion 2100 and the leg massage body 2300 from being biased to one side and applying an excessive load.

[0223] Refer to Figures 8 to 10 , the rotating shaft portion 2130 according to an embodiment of the present invention forms the rotation center axis AX1 of the rotating frame body 2110 and can connect the leg connection frame 1121 and the rotating frame body 2110.

[0224] Refer to Figure 8, according to an embodiment of the present invention, the rotating shaft portion 2130 may include a shaft body 2131, a support member 2137, and a shaft fastening member (not shown). The shaft body 2131 extends along the central axis AX1 in the length direction and can be inserted through the rotating frame body 2110.

[0225] Referring to Figure 8 , the rotating frame body 2110 may be rotatably disposed on the leg connecting frame 1121, and the shaft body 2131 may pass through the frame hole portion 1121h formed in the leg connecting frame 1121 and be inserted through the rotating frame body 2110.

[0226] The support member 2137 has openings on both sides and may be formed in a cylindrical shape, and may wrap the shaft body 2131 and be disposed on the leg connecting frame 1121.

[0227] That is, the support member 2137 may be disposed between the shaft body 2131 and the leg connecting frame 1121.

[0228] Therefore, the support member 2137 has the effect of maintaining the central axis of the shaft body 2131 and stably supporting the rotation of the shaft body 2131 and the rotating frame body 2110.

[0229] Referring to Figure 8 , compared with the frame hole portion 1121h formed in the leg connecting frame 1121, the outer diameter of one end portion (the upper end portion based on Figure 8 ) of the support member 2137 may be formed relatively larger.

[0230] Therefore, the support member 2137 can be stably fixed in position on the leg connecting frame 1121 and has the effect of wrapping the shaft body 2131 and stably supporting the rotation of the shaft body 2131.

[0231] Referring to Figure 8 , Fig. 9 , in a preset area (specifically, between the frame hole portions 1121h formed above and below respectively) of the leg connecting frame 1121 according to an embodiment of the present invention, the rotating frame body 2110 may be disposed, and the shaft body 2131 may be inserted through the frame hole portion 1121h and the rotating frame body 2110.

[0232] Referring to Figure 8 , a fastening hole portion 2131h is formed in a direction perpendicular to the central axis in the length direction of the shaft body 2131, and the fastening hole portion 2131h may communicate with the fastening hole portion 2110h formed on the rotating frame body 2110 into which the shaft body 2131 is inserted.

[0233] Therefore, the shaft fastening member can fasten the shaft body 2131 and the rotary frame body 2110 by penetrating and fastening the fastening hole portions 2110h and 2131h formed in the rotary frame body 2110 and the shaft body 2131 respectively, and the rotary frame body 2110 can relatively rotate with respect to the leg connection frame 1121 with the central axis in the longitudinal direction of the shaft body 2131 as the rotation central axis AX1.

[0234] Referring to Fig. 9 , when the rotary frame body 2110A accommodating the left leg of the user 10 is hinge-coupled and rotates counterclockwise (based on Fig. 9 ) with respect to the rotation central axis AX1, the massage device 100 can provide the user 10 with a leg external rotation function.

[0235] On the contrary, when the rotary frame body 2110 accommodating the left leg of the user 10 is hinge-coupled and rotates clockwise (based on Fig. 9 ) with respect to the rotation central axis AX1, the massage device 100 can provide the user 10 with a leg internal rotation function.

[0236] Referring to Figure 8 , an enlarged portion 2132 formed to have a relatively larger diameter can be formed at one end of the shaft body 2131 according to an embodiment of the present invention (the upper end portion based on Figure 8 ).

[0237] Specifically, the outer diameter of the enlarged portion 2132 can be formed to be relatively larger than the inner diameter of the support member 2137 and the inner diameter of the frame hole portion 1121h formed in the leg connection frame 1121.

[0238] Therefore, it has the following effects: it can prevent the shaft body 2131 from passing through the frame hole portion 1121h formed in the leg connection frame 1121 or the hole portion formed in the rotary frame body 2110 and falling off, and can maintain the rotation central axis of the rotary frame body 2110 with respect to the leg connection frame 1121.

[0239] The enlarged portion 2132 according to an embodiment of the present invention is integrally formed with the shaft body 2131, and is formed to have a relatively larger diameter than the interval other than the interval where the enlarged portion 2132 is formed, but is not limited thereto, and various deformations can be implemented, for example, being combined with the shaft body 2131 using a separate device such as an E-ring.

[0240] Referring to Figures 7 to 11 , a connection member 2150 according to an embodiment of the present invention connects the rotary frame body 2110 and the leg driving unit 2500, and can transmit the power generated by the leg driving unit 2500 to the rotary frame body 2110.

[0241] The connecting member 2150 according to an embodiment of the present invention may be formed in the shape of a pin and may penetrate and fasten the rotary frame body 2110 and the leg driving unit 2500 (specifically, the moving unit 2550).

[0242] However, it is not limited thereto, and various deformations can be implemented within the technical idea of connecting the moving unit 2550 and the rotary frame body 2110 so that the rotary frame body 2110 moves and / or rotates as the moving unit 2550 moves, such as bolts and the like.

[0243] Referring to Figures 8 to 10 , the connecting member 2150 may penetrate through the connecting hole portion 2113 formed in the rotary frame body 2110 and the slit portion 2551 formed in the moving unit 2550 and overlapping with the connecting hole portion 2113 to connect the rotary frame body 2110 and the moving unit 2550.

[0244] Referring to Figure 8 , compared with the diameter of the connecting hole portion 2113 formed in the rotary frame body 2110, the diameter of one end portion (the upper end portion based on Figure 8 ) of the connecting member 2150 may be formed relatively larger. Therefore, the connecting member 2150 is hung on the rotary frame body 2110 without an additional fastening member, and has the effect of stably connecting the rotary frame body 2110 and the moving unit 2550.

[0245] Referring to Figures 9 and 10 , when the moving unit 2550 linearly moves by the power generated by the leg driving unit 2500, the connecting member 2150 according to an embodiment of the present invention transmits the linear power to the rotary frame body 2110 and converts it into rotational power.

[0246] Referring to Fig.10 , Fig.11 , the connecting member 2150 according to an embodiment of the present invention may be disposed at a distance from the rotary shaft portion 2130 (specifically, the shaft body 2131). The shaft body 2131 is connected to the rotary frame body 2110, penetrates through the leg connection frame 1121, and may form the rotation center axis AX1 of the rotary frame portion 2100 (specifically, the rotary frame body 2110).

[0247] At this time, the connecting member 2150 connecting the rotary frame body 2110 and the moving unit 2550 extends along a central axis AX2 different from the rotation center axis AX1 of the rotary frame body 2110, and thus has the effect of converting the linear movement of the moving unit 2550 into the rotational movement of the rotary frame body 2110.

[0248] That is, the moving part 2550 linearly moves by the power generated by the leg driving part 2500. The linear movement of the moving part 2550 is transmitted to the rotary frame body 2110 through the connecting member 2150, so that the rotary frame body 2110 can rotate clockwise and / or counterclockwise around the central axis in the length direction of the shaft body 2131 as the rotation center axis.

[0249] As the rotary frame body 2110 rotates, the leg massage body 2300 hinged to the rotary frame body 2110 rotates clockwise and / or counterclockwise with reference to the rotation center axis AX1 of the rotary frame body 2110.

[0250] In other words, the legs of the user 10 sitting on the massage device 100 face forward and have the effect of being able to perform an outward rotation movement of spreading to both sides or an inward rotation movement of retracting again with reference to the center of the leg connection frame 1121.

[0251] Refer to Fig.10 、 Fig.11 According to an embodiment of the present invention, the connecting member 2150 can move within the slit portion 2551 formed in the moving part 2550, and since a space for the connecting member 2150 to move is formed within the slit portion 2551, the linear movement of the moving part 2550 can be converted into the rotational movement of the rotary frame body 2110.

[0252] The content related to the above will be described in detail in the leg driving part 2500 to be described later.

[0253] Refer to Figure 1 、 Figure 3 、 Figure 4 、 Fig.14 According to an embodiment of the present invention, the leg massage body 2300 can accommodate the legs of the user 10 and can be hinged to the rotary frame part 2100.

[0254] Specifically, a pair of leg massage bodies 2300 can be provided to respectively accommodate the left leg and the right leg of the user 10, and the pair of leg massage bodies 2300A and 2300B can be respectively hinged to the pair of rotary frame parts 2100A and 2100B.

[0255] According to an embodiment of the present invention, the leg massage body 2300 can provide a leg massage function to the user 10, and can include at least one of an airbag, a calf massage module (not shown), and a foot massage part (not shown). The content related to this has been described above, and detailed description is omitted.

[0256] Refer to Figures 4 to 6 、 Fig.14, according to an embodiment of the present invention, the leg massage body 2300 may include a leg base portion 2310. A pair of leg base portions 2310 may be provided to correspond to a pair of rotary frame bodies 2110.

[0257] Referring to Figure 5 , the leg base portion 2310 can be hingedly coupled to the rotary frame portion 2100 (specifically, the rotary frame body 2110).

[0258] Referring to Figure 5 , according to an embodiment of the present invention, the leg base portion 2310 can be covered and installed on the shaft housing 2140 formed on the installation portion 2111 of the rotary frame body 2110 and connected to the rotary frame portion 2100.

[0259] As an alternative embodiment, when the shaft housing 2140 is fixed in position on the installation portion 2111 formed on the rotary frame body 2110 by fastening members (not shown), the leg base portion 2310 surrounds the shaft housing 2140 and can rotate in a clockwise direction and / or a counterclockwise direction based on a preset rotation center axis (specifically, the central axis in the length direction of the shaft housing 2140) (based on Figure 5 AX4) as a reference.

[0260] As an alternative embodiment, when the shaft housing 2140 is fixed in position on the installation portion 2111 formed on the rotary frame body 2110 by fastening members (not shown), a hinge shaft (not shown) formed on the leg base portion 2310 can be inserted through the shaft housing 2140.

[0261] In a state where the hinge shaft is inserted into the shaft housing 2140, it can rotate in a clockwise direction and / or a counterclockwise direction based on the rotation center axis AX4, and the leg base portion 2310 and the leg massage body 2300 can rotate relative to the rotary frame portion 2100 (specifically, the rotary frame body 2110).

[0262] Therefore, the leg massage body 2300 receives power from a position adjusting portion 2700 (specifically, an angle adjusting portion 2710) to be described later to perform a hinged movement relative to the rotary frame portion 2100, thereby having the effect of being able to adjust the leg angle of the user 10 sitting on the massage device 100.

[0263] Although not shown, when the shaft housing 2140 is fixed in position on the installation portion 2111 formed on the rotary frame body 2110 by fastening members, the hinge shaft (not shown) inserted through the shaft housing 2140 can be inserted to a position separated from the fastening members passing through the shaft housing 2140.

[0264] Accordingly, interference between the fastening member and the hinge shaft can be prevented, and the hinge shaft formed on the leg base portion 2310 can stably rotate relative to the shaft housing 2140 fixedly positioned on the mounting portion 2111.

[0265] Referring to Figure 5 and Figure 6 , a contact frame 2311 may be formed on one surface of the leg base portion 2310 according to an embodiment of the present invention. The contact frame 2311 may be formed on one surface of the leg base portion 2310 facing the angle adjustment unit 2710 to be described later (the rear surface with Figure 5 as a reference).

[0266] The contact frame 2311 may be formed in a plate shape and be capable of contacting the angle adjustment unit 2710 (specifically, the contact portion 2713).

[0267] Since the state of contact between the contact frame 2311 and the contact portion 2713 is maintained, the leg massage body 2300 can receive power from the angle adjustment unit 2710 and be hinged relative to the rotary frame unit 2100 with respect to the preset rotation center axis AX4.

[0268] The leg massage body 2300 according to an embodiment of the present invention may include at least one of an airbag, a calf massage module (not shown), and a foot massage unit (not shown). Related content is as described above, and detailed description is omitted.

[0269] Referring to Figures 7 to 13 and Fig.15 , the leg driving unit 2500 according to an embodiment of the present invention transmits power to the rotary frame unit 2100 and rotates the rotary frame unit 2100, and may include a driving base portion 2510, a driving source portion 2530, a moving portion 2550, a power transmission portion 2570, a rotation limiting portion 2591, and a frame support portion 2595.

[0270] The leg driving unit 2500 according to an embodiment of the present invention may generate linear power to rotate the rotary frame unit 2100.

[0271] Referring to Figure 7 , the leg driving unit 2500 according to an embodiment of the present invention is disposed on the leg connection frame 1121, and can rotate the rotary frame unit 2100 relative to the leg connection frame 1121 by generating power.

[0272] Specifically, as the rotary frame part 2100 rotates relatively outwardly and / or inwardly with respect to the center of the leg connection frame 1121, the leg massage body 2300 coupled to the rotary frame part 2100 can rotate outwardly and / or inwardly with respect to the center of the leg connection frame 1121.

[0273] That is, with respect to the rotation center axis AX1 perpendicular to the bottom surface on which the massage device 100 is disposed, the rotary frame part 2100 (specifically, the rotary frame body 2110) and the leg massage body 2300 coupled to the rotary frame body 2110 can rotate by a preset angle.

[0274] A pair of rotary frame parts 2100 and leg massage bodies 2300 can be provided, and they can rotate relatively with respect to the leg connection frame 1121 respectively based on different rotation center axes.

[0275] According to an embodiment of the present invention, the leg driving part 2500 can cause a pair of rotary frame parts 2100A, 2100B to rotate in opposite directions by transmitting power to the pair of rotary frame parts 2100A, 2100B.

[0276] Therefore, when a pair of rotary frame parts 2100A, 2100B rotate in opposite directions and rotate outwardly with respect to the center of the leg connection frame 1121 part, a leg external rotation massage function can be provided to the user 10 sitting on the massage device 100.

[0277] Conversely, when a pair of rotary frame parts 2100A, 2100B rotate inwardly with respect to the center of the leg connection frame 1121 part, a leg internal rotation massage function can be provided to the user 10 sitting on the massage device 100.

[0278] Refer to Figure 7 、 Figures 9 to 13 According to an embodiment of the present invention, the driving base part 2510 is disposed on the leg connection frame 1121 and can be fixed in position on the leg connection frame 1121.

[0279] A driving source part 2530 can be provided on the driving base part 2510. The driving base part 2510 can be disposed at the central part of the leg connection frame 1121.

[0280] The power transmission part 2570, the rotation limiting part 2591, and the frame support part 2595, which will be described later, can be provided on the driving base part 2510, and this will be described in detail later.

[0281] Refer to Figure 5 、 Figure 7 、 Fig.13, the drive source unit 2530 according to an embodiment of the present invention is provided on the drive base unit 2510 and can receive power from the outside to generate power.

[0282] The drive source unit 2530 according to an embodiment of the present invention generates rotational power in the form of an electric motor and transmits the power to the moving unit 2550 through the power transmission unit 2570. However, it is not limited thereto, and various deformations can be implemented, such as generating linear power in the form of an actuator.

[0283] The moving unit 2550 according to an embodiment of the present invention is connected to the rotating frame unit 2100, and a pair can be provided to be respectively connected to a pair of rotating frame units 2100. The moving unit 2550 can receive power from the power transmission unit 2570 to be described later to move.

[0284] A pair of moving units 2550A and 2550B can receive the power generated by the drive source unit 2530 from the power transmission unit 2570 to move in opposite directions. The pair of moving units 2550 can move along a preset movement center axis AX3.

[0285] Refer to Fig. 9 , one side of the moving unit 2550 according to an embodiment of the present invention can be connected to the power transmission unit 2570, and the other side can be connected to the rotating frame unit 2100.

[0286] Therefore, the moving unit 2550 receives the power generated by the power transmission unit 2570 to move, and as the moving unit 2550 moves, the rotating frame unit 2100 can rotate relative to the leg connection frame 1121.

[0287] Refer to Fig.10 , Fig.11 , a slit portion 2551 can be formed on one side of the moving unit 2550 connected to the rotating frame unit 2100 (specifically, the connection member 2150). The slit portion 2551 is formed in the shape of a hole through which the connection member 2150 can pass.

[0288] Specifically, the connection member 2150 provided on the rotating frame unit 2100 penetrates and hangs on the rotating frame body 2110 and the slit portion 2551, and can convert the linear movement of the moving unit 2550 into the rotational movement of the rotating frame body 2110.

[0289] Refer to Fig.10 , Fig.11 , in the slit portion 2551 formed in the moving unit 2550, the length d1 in the first direction can be formed relatively longer than the length d2 in the second direction perpendicular to the first direction.

[0290] Specifically, the second direction may be parallel to the moving direction of the moving part 2550, and the first direction may be formed at a predetermined angle with the moving direction of the moving part 2550.

[0291] Referring to Fig.10 and Fig.11 , compared with the length d1 of the first direction, the diameter 2r of the connecting member 2150 disposed inside the slit portion 2551 may be formed relatively small. Therefore, the connecting member 2150 can move in the first direction while contacting the inner peripheral surface of the slit portion 2551.

[0292] That is, since a space for the connecting member 2150 to move is formed inside the slit portion 2551, there is an effect of converting the linear movement of the moving part 2550 into the rotational movement of the rotary frame body 2110 while maintaining the moving central axis AX3 of the moving part 2550.

[0293] Referring to Fig.10 , a state where the rotary frame portion 2100 does not rotate relative to the leg connecting frame 1121 is shown. The connecting member 2150 having a central axis AX2 spaced apart from the rotational central axis AX1 of the rotary frame portion 2100 can contact the front-side inner peripheral surface of the slit portion 2551 formed in the moving part 2550.

[0294] Referring to Fig.11 , a state where the power generated by the drive source portion 2530 is transmitted to the moving part 2550 through the power transmission portion 2570 and the rotary frame portion 2100 rotates relative to the leg connecting frame 1121 is shown. As the moving part 2550 linearly moves, by transmitting power to the connecting member 2150 in a region spaced apart from the rotational central axis AX1 of the rotary frame portion 2100 and having a central axis AX2 spaced apart from the rotational central axis AX1, the rotary frame portion 2100 can rotate relative to the leg connecting frame 1121.

[0295] At this time, the connecting member 2150 can contact the rear-side inner peripheral surface of the slit portion 2551 formed in the moving part 2550.

[0296] Referring to Figure 7 and Fig. 9 and Fig.10 and Fig.13 , according to an embodiment of the present invention, the power transmission portion 2570 connects the drive source portion 2530 and the moving part 2550, and can transmit the power generated by the drive source portion 2530 to the moving part 2550.

[0297] Referring to Fig. 9 and Fig.13, according to an embodiment of the present invention, the power transmission unit 2570 may include a gear unit 2571 and a transmission shaft 2575.

[0298] The gear unit 2571 can be in contact with the drive source unit 2530 and can receive power from the drive source unit 2530.

[0299] The gear unit 2571 may be formed in the form of a worm gear. However, it is not limited thereto, and various deformations can be implemented within the technical idea of being able to receive the power of the drive source unit 2530, such as a rack-pinion method, etc.

[0300] According to an embodiment of the present invention, the gear unit 2571 can receive the rotational power generated by the drive source unit 2530 to rotate. The gear unit 2571 is combined with the transmission shaft 2575 to be described later, and the transmission shaft 2575 can rotate together with the rotation of the gear unit 2571.

[0301] According to an embodiment of the present invention, the transmission shaft 2575 is connected to the gear unit 2571 and extends along the length direction (the left-right direction based on Fig.13 ), and when the gear unit 2571 receives power from the drive source unit 2530 and rotates, it can rotate together with the gear unit 2571.

[0302] Refer to Fig. 9 、 Fig.13 , the transmission shaft 2575 can be connected to a pair of moving parts 2550, and the transmission shaft 2575 and the pair of moving parts 2550 can rotate relative to each other.

[0303] A pair of moving parts 2550 can move on the transmission shaft 2575, and a pair of moving parts 2550 can receive power from the drive source unit 2530 to linearly move on the transmission shaft 2575 along with the rotation of the power transmission unit 2570 (specifically, the transmission shaft 2575).

[0304] According to an embodiment of the present invention, the transmission shaft 2575 and a pair of moving parts 2550 can be connected in a threaded engagement manner. Specifically, a thread can be formed on the outer peripheral surface of the transmission shaft 2575, and a thread groove can be formed on the inner peripheral surface of the moving part 2550 that contacts the outer peripheral surface of the transmission shaft 2575.

[0305] Therefore, when the transmission shaft 2575 that receives power from the drive source unit 2530 through the gear unit 2571 rotates, the transmission shaft 2575 and the moving part 2550 can rotate relative to each other.

[0306] Refer to Fig. 9 、 Fig.12 、 Fig.13, since the rotation restricting portion 2591 fixed to the driving base portion 2510 makes surface contact while contacting and supporting one side of the moving portion 2550 (based on Fig.13 the lower side), the rotation restricting portion 2591 can restrict the rotation of the moving portion 2550.

[0307] Therefore, the rotational power of the transmission shaft 2575 can be transmitted to the moving portion 2550 to produce a linear power effect.

[0308] As the power transmission portion 2570 according to an embodiment of the present invention transmits power to the pair of moving portions 2550A and 2550B, the pair of moving portions 2550A and 2550B can move in opposite directions to each other.

[0309] That is, as the power transmission portion 2570 (specifically, the transmission shaft 2575) according to an embodiment of the present invention rotates, the moving portions 2550 connected to both sides with the center of the transmission shaft 2575 as a reference can move in opposite directions to each other.

[0310] Refer to Fig.13 , at the first position P1 of the end portion of the moving portion 2550 in the initial state where the moving portion 2550 is not moved, the power generated by the drive source portion 2530 moves the moving portion 2550 through the power transmission portion 2570, and the end portion of the moving portion 2550 can be moved to the second position P2.

[0311] Refer to Fig.13 , when the moving portion 2550 moves from the first position P1 to the second position P2, the distance between the pair of moving portions 2550A and 2550B increases, and when the moving portion 2550 moves from the second position P2 to the first position, the distance between the pair of moving portions 2550A and 2550B can decrease.

[0312] In other words, Fig.10 is a view showing the end portion of the moving portion 2550 at the first position P1, Fig.11 is a view showing the end portion of the moving portion 2550 at the second position P2.

[0313] That is, by moving the end portion of the moving portion 2550 from the first position P1 to the second position P2, power can be transmitted to the rotary frame portion 2100, and the leg massage body 2300 hinged to the rotary frame body 2110 and the rotary frame body 2110 with the rotary center axis AX1 as a reference can rotate outward with the center of the leg connection frame 1121 as a reference.

[0314] Conversely, by moving the end of the moving part 2550 from the second position P2 to the first position P1, power can be transmitted to the rotating frame part 2100, and the leg massage body 2300 hingedly coupled to the rotating frame body 2110 and the rotating frame body 2110 with respect to the rotation center axis AX1 can rotate inward with respect to the center of the leg connection frame 1121.

[0315] Refer to Fig.10 , Fig.11 , since the connecting member 2150 can move inside the slit portion 2551 formed at one end of the moving part 2550 connected to the rotating frame part 2100, the linear motion of the moving part 2550 can be converted into the rotational motion of the rotating frame part 2100 (specifically, the rotating frame body 2110) while maintaining the movement direction center axis AX3 of the moving part 2550 unchanged.

[0316] In the transmission shaft 2575 according to an embodiment of the present invention, the threads at the portions respectively connected to the pair of moving parts 2550 are formed in opposite directions, and the directions of the thread groove portions formed on the inner circumferential surfaces of the pair of moving parts 2550A and 2550B in surface contact with the transmission shaft 2575 can be formed in the same direction.

[0317] Therefore, when the transmission shaft 2575 receives power from the drive source part 2530 and rotates with respect to the rotation center axis AX3, the pair of moving parts 2550A and 2550B connected to both sides of the transmission shaft 2575 can move in opposite directions to each other.

[0318] However, it is not limited thereto, and various deformations can be implemented. For example, the directions of the threads formed on both sides of the transmission shaft 2575 connected to the pair of moving parts 2550A and 2550B are formed in the same direction, and the directions of the thread groove portions formed on the inner circumferential surfaces of the pair of moving parts 2550A and 2550B in surface contact with the thread formed on the outer circumferential surface of the transmission shaft 2575 are formed in opposite directions to each other, etc.

[0319] Refer to Figure 7 , Fig. 9 , Fig.12 , Fig.13 , according to an embodiment of the present invention, the rotation restricting part 2591 is coupled to the drive base part 2510, and a plurality of them can be provided corresponding to the pair of moving parts 2550.

[0320] The rotation restricting part 2591 is fixed in position to the drive base part 2510, and can contact and support the moving part 2550.

[0321] Specifically, the rotation restricting part 2591 can be in contact with one surface of the moving part 2550 (with Fig.13The lower surface (taking [reference] as the benchmark) is in surface contact. Due to the surface contact between the rotation restricting portion 2591 and the moving portion 2550, the rotation of the moving portion 2550 on the rotation restricting portion 2591 is restricted, and through the relative rotation between the moving portion 2550 and the power transmission portion 2570 (specifically, the transmission shaft 2575), the moving portion 2550 can linearly move in a preset direction (based on the left - right direction of [reference]). Fig.13 The left - right direction of [reference]

[0322] In the present invention, the rotation restricting portion 2591 is disposed below the moving portion 2550 (taking [reference] as the benchmark), but is not limited thereto. Various deformations can be implemented within the technical concept of restricting the rotation of the moving portion 2550. For example, it can be disposed above the moving portion 2550 (taking [reference] as the benchmark), etc. Fig.13 Taking [reference] as the benchmark Fig.13 Taking [reference] as the benchmark

[0323] Referring to Figure 7 , Fig. 9 , Fig.13 , according to an embodiment of the present invention, the frame support portion 2595 is disposed between the drive base portion 2510 and the rotating frame portion 2100 and can contact and support the rotating frame portion 2100.

[0324] The frame support portion 2595 can be disposed on one surface (the upper surface taking [reference] as the benchmark) of the drive base portion 2510 facing the rotating frame portion 2100 (specifically, the rotating frame body 2110) and can contact and support the rotating frame body 2110. Fig.13 Taking [reference] as the benchmark

[0325] As an alternative embodiment, a region of the frame support portion 2595 that can contact the rotating frame body 2110 can be made of a rubber material.

[0326] Therefore, it has the effect of reducing the friction between the rotating frame body 2110 and the frame support portion 2595 and the damage caused by the friction.

[0327] Referring to Fig.13 , a pair of frame support portions 2595 can be provided to correspond to a pair of rotating frame bodies 2110A and 2110B.

[0328] Referring to Fig. 9 , separated from the rotation center axis AX1 formed on one side with the center of the rotating frame body 2110 as the benchmark, the frame support portion 2595 supports the rotating frame body 2110 on the other side with the center of the rotating frame body 2110 as the benchmark. Therefore, it has the effect of preventing the rotating frame body 2110 connected to the leg massage body 2300 from tilting in the up - down direction (taking [reference] as the benchmark). Figure 4 Taking [reference] as the benchmark

[0329] Referring to Fig.14, since the extension part 2115 protrudes and extends towards the rear side of the rotary frame body 2110, there is an effect that even when the rotary frame part 2100 rotates in the outward direction with respect to the rotation center axis, the frame support part 2595 can stably contact and support the rotary frame body 2110.

[0330] Refer to Figures 4 to 7 , Fig.15 , the position adjusting part 2700 according to an embodiment of the present invention adjusts the position of the leg massage body 2300 relative to the frame part (specifically, the seat frame 1120), and may include an angle adjusting part 2710.

[0331] The position adjusting part 2700 according to an embodiment of the present invention provides a massage device 100 to the user 10 that can apply various movements associated with leg massage by adjusting at least one of the height and angle of the leg massage body 2300.

[0332] Specifically, the position adjusting part 2700 may include: a length adjusting part (not shown), which linearly moves the leg massage body 2300 forward and / or backward relative to the leg connection frame 1121 by transmitting power to the leg massage body 2300.

[0333] In addition, the position adjusting part 2700 may include: a height adjusting part (not shown), which moves the leg massage body 2300 accommodating the legs of the user 10 in a preset direction, specifically, moves the knees of the user 10 closer to the upper body side of the user 10 or linearly moves in a direction away from the upper body.

[0334] Hereinafter, in connection with the specific structure of the position adjusting part 2700 according to an embodiment of the present invention, the angle adjusting part 2710 that makes the leg massage body 2300 rotate relative to the rotary frame part 2100 will be described in detail.

[0335] Refer to Figures 4 to 7 , Fig.15 , the angle adjusting part 2710 according to an embodiment of the present invention makes it rotate relative to the rotary frame part 2100 by transmitting power to the leg massage body 2300, and may include a support part 2711 and an angle adjusting driving part 2715.

[0336] Refer to Figure 5 , by the drive of the angle adjusting part 2710 according to an embodiment of the present invention, the leg massage body 2300 can rotate in the clockwise direction and / or the counterclockwise direction with the preset rotation axis AX4 as the rotation center axis. As Fig.16 shown, by the drive of such an angle adjusting part 2710, the plurality of leg massage bodies 2300A, 2300B can rotate in the clockwise direction or the counterclockwise direction with respect to the vertical direction.

[0337] That is, the angle adjustment unit 2710 transmits power to the contact frame 2311 formed on the leg massage body 2300 (specifically, the leg base part 2310), so that the leg base part 2310 rotates relative to the rotation frame part 2100 (specifically, the rotation frame body 2110) in the clockwise direction and / or the counterclockwise direction with respect to the preset rotation center axis AX4.

[0338] In other words, since the angle adjustment unit 2710 transmits power to the leg massage body 2300, it has the effect of making the leg massage body 2300 perform a hinged movement relative to the rotation frame body 2110, bending or unfolding the leg with respect to the knee area of the user 10, and adjusting the angle of the leg.

[0339] A pair of angle adjustment units 2710 according to an embodiment of the present invention may be provided to correspond to the pair of leg massage bodies 2300.

[0340] Refer to Figures 5 to 7 , the support part 2711 according to an embodiment of the present invention can contact the leg massage body 2300 and can be rotatably connected to the leg connection frame 1121. The support part 2711 may include a support body 2712 and a contact part 2713.

[0341] The support body 2712 is rotatably connected to the leg connection frame 1121 and can be connected to the angle adjustment driving part 2715.

[0342] Refer to Figure 5 , the support body 2712 can receive power from the angle adjustment driving part 2715 to rotate relative to the leg connection frame 1121. When the support body 2712 rotates forward with respect to the leg connection frame 1121, the leg massage body 2300 can rotate forward relative to the rotation frame body 2110.

[0343] Refer to Figures 5 to 7 , the contact part 2713 is rotatably combined with the support body 2712 and can contact the contact frame 2311 formed on the leg massage body 2300 (specifically, the leg base part 2310).

[0344] The contact part 2713 is rotatably combined with the support body 2712 in a roller manner and can rollingly contact the contact frame 2311.

[0345] Therefore, the support body 2712 that receives power from the angle adjustment driving unit 2715 can push the leg massage body 2300. The leg massage body 2300 can perform a hinged movement relative to the rotary frame unit 2100 (specifically, the rotary frame body 2110) with the rotation center axis AX4 as a reference, and the angle can be adjusted.

[0346] Due to the contact portion 2713, the following effects can be achieved: the friction generated by the contact between the angle adjustment portion 2710 (specifically, the support portion 2711) and the leg massage body 2300 can be reduced, and by transmitting power to the leg massage body 2300, the leg massage body 2300 can be rotated by a preset angle relative to the rotary frame body 2110.

[0347] Refer to Figure 7 , the outer peripheral surface 2713r of the contact portion 2713 facing the leg massage body 2300 according to an embodiment of the present invention can have a predetermined radius of curvature in the outward direction and can be formed in a convex shape.

[0348] Specifically, in the contact portion 2713 that can contact the leg massage body 2300A accommodating the left leg of the user 10, with the front of the user 10 sitting on the massage device 100 as a reference, the outer peripheral surface 2713r facing the left side has a predetermined radius of curvature and can be formed in a convex shape.

[0349] In addition, in the contact portion 2713 that can contact the leg massage body 2300B accommodating the right leg of the user 10, with the front of the user 10 sitting on the massage device 100 as a reference, the outer peripheral surface 2713r facing the right side has a predetermined radius of curvature and can be formed in a convex shape.

[0350] Since the pair of contact portions 2713 respectively have a predetermined radius of curvature outward with the front of the massage device 100 as a reference and are formed in a convex shape, when the leg massage body 2300 hinged to the rotary frame unit 2100 and the rotary frame unit 2100 performs an outward rotation movement of rotating a preset angle in the outward direction and / or an inward rotation movement of rotating a preset angle in the inward direction relative to the leg connection frame 1121 with the rotation center axis AX1 as a reference, it has the effect of maintaining the state of the stable contact between the contact portion 2713 and the contact frame 2311 and can adjust the angle of the leg massage body 2300.

[0351] The angle adjustment driving unit 2715 can adjust its length and transmit power to the support unit 2711, and can be formed by an actuator. The angle adjustment driving unit 2715 according to an embodiment of the present invention is formed in the form of an electric cylinder, but is not limited thereto. Within the technical concept of adjusting the length, various deformations can be implemented. For example, a motor, a linear motor, an electronic motor, a direct current (DC) motor, an alternating current (AC) motor, a linear actuator, etc. that can provide driving force can be provided.

[0352] The control unit according to an embodiment of the present invention can control the power by transmitting an electrical signal to the angle adjustment driving unit 2715.

[0353] Due to the angle adjustment unit 2710 according to an embodiment of the present invention, the leg massage bodies 2300A and 2300B into which the legs of the user 10 are inserted can rotate in the clockwise direction and / or the counterclockwise direction and adjust the angle with the rotation axis AX4 near the knee of the user 10 as the rotation center axis, and can receive the effects provided by the massage.

[0354] In the massage device 100 according to an embodiment of the present invention, the power generated by the leg driving unit 2500 causes the rotary frame unit 2100 to rotate relative to the leg connection frame 1121, so that an in-rotation and / or out-rotation function can be provided to the user 10.

[0355] In addition, the power generated by the leg driving unit 2500 is transmitted to the pair of rotary frame units 2100, and the pair of rotary frame units 2100 can rotate in opposite directions to each other.

[0356] In addition, since the connection member 2150 can move inside the slit portion 2551 formed in the moving portion 2550, the linear motion of the moving portion 2550 can be converted into the rotational motion of the rotary frame body 2110.

[0357] In addition, since the outer peripheral surface of the angle adjustment unit 2710 (specifically, the contact portion 2713) that adjusts the angle of the leg massage body 2300 is formed in a convex shape with a predetermined curvature radius outward with respect to the front of the user 10 seated on the massage device 100, in the state where the rotary frame body 2110 combined with the leg massage body 2300 rotates relative to the leg connection frame 1121, the contact portion 2713 can stably contact and support the leg massage body 2300.

[0358] Hereinafter, with reference to Figures 17 to 23 other embodiments of the drive mechanism for realizing the vertical rotation and horizontal rotation of the leg massage unit will be described later.

[0359] In connection with this embodiment, the reference numerals of the components shown in the drawings may be the same as those in the above embodiment (refer to Figures 1 to 16The reference numerals of the configurations in the (illustrated embodiments) are different. This is because, for the necessity of tools for effectively illustrating Figures 17 to 25 the embodiments of the present invention shown in, if the corresponding technical idea can be implemented at the level of those skilled in the art, one or more of the configurations in the embodiments described below should be understood to be the same or equivalent to one or more of the above configurations or the configurations Figure 26 to Figure 33 described in the illustrated embodiments.

[0360] Fig.17 is a perspective view showing a connecting device of a leg massage part of a massage device according to an embodiment of the present invention, Fig.18 is a side view showing a connecting device of a leg massage part of a massage device according to an embodiment of the present invention, Fig.19 is a view for explaining a swing driving part of a swing adjusting part according to an embodiment of the present invention.

[0361] A leg massage part connecting device 3000 of a massage device 100 according to an embodiment of the present invention is provided for movably connecting a leg massage part 2000 to a seat frame 1250 of a main frame 1100.

[0362] The leg massage part connecting device 3000 of the massage device according to the present invention may include at least one of a swing adjusting part 3100 and a leg angle adjusting part 3500.

[0363] The swing adjusting part 3100 rotatably connects the leg massage part 2000 to the seat frame 1250 in a horizontal direction. In the following description, the movement of the leg massage part 2000 rotating in the horizontal direction is referred to as a swing action, and the mode for realizing the swing action is referred to as a swing mode.

[0364] Referring to Fig.17 , the swing adjusting part 3100 is provided in a manner corresponding to one side leg massage part 2001 and the other side leg massage part 2002 respectively. That is, the swing adjusting part 3100 may include a swing adjusting part for the one side leg massage part 2001 and a swing adjusting part for the other side leg massage part 2002. Thus, the one side leg massage part 2001 and the other side leg massage part 2002 can perform independent horizontal rotation, that is, swing actions.

[0365] According to an embodiment of the present disclosure, the swing adjusting part 3100 includes at least a part of a support shaft 3110, a fixed wheel 3120, a swing frame 3200, and a swing driving part 3300.

[0366] The support shaft 3110 is disposed vertically on the seat frame 1250 to be supported. The vertical direction in the present disclosure refers to Fig.17The direction parallel to the Z-axis direction with reference to the shown coordinate system corresponds to the up-and-down direction in the massage device. Additionally, the horizontal direction refers to the direction parallel to the XY plane in the coordinate system, the front-and-back direction of the massage device refers to the direction parallel to the X-axis, and the left-and-right direction of the massage device can be defined as the direction parallel to the Y-axis.

[0367] According to an embodiment of the present disclosure, the seat frame 1250 includes a support shaft frame 1260 protruding forward. A pair of support shaft frames 1260 extend above and below the support shaft 1260, and the support shaft 1260 vertically extends therebetween and its upper and lower ends are coupled to the pair of support shaft frames 1260. When the support shaft 3110 is coupled to the support shaft frame 1260 at a position away from the front of the seat frame 1250, the swing frame 3200 rotates in the horizontal direction with reference to the support shaft 3110. It is possible to prevent interference with the seat frame 1250 while increasing the left-and-right swing rotation range.

[0368] As Fig.18 shown in the enlarged view A of, the fixed wheel 3120 is coupled to the support shaft 3110 in a configuration arranged in the horizontal direction. That is, the fixed wheel 3120 extends parallel to the XY plane in the radial direction with reference to the coordinate system shown in Fig.17 and is arranged to cross the support shaft.

[0369] The fixed wheel 3120 is integrally fixed to the support shaft 3110 and can be coupled in such a way that relative rotation between the support shaft 3110 and the fixed wheel 3120 does not occur. The fixed wheel 3120 can be formed as a gear having gear teeth formed on its outer peripheral surface.

[0370] The swing frame 3200 is coupled to the support shaft 3110 and is supported in such a way that it can rotate in the horizontal direction relative to the seat frame 1250.

[0371] The swing frame 3200 includes a support shaft connection portion 3210 connected to the support shaft 3110. The support shaft connection portion 3210 is formed as a hole for inserting the support shaft 3110.

[0372] According to an embodiment of the present disclosure, the support shaft 3110 can be non-rotatably fixed to the frame support shaft 1260. The swing frame 3200 can rotate with reference to the support shaft connection portion 3210 on the fixed support shaft 3110. At this time, a bearing 3212 can be disposed in the hole forming the support shaft connection portion 3210.

[0373] The swing frame 3200 may be provided with a connection bracket 3220 to which the leg massage unit 2000 is connected at a position facing the support shaft connection part 3210. A pair of connection brackets 3220 spaced apart from each other may be provided on the front surface 3202 of the swing frame 3200, and the leg massage unit rotation shafts 2010 protruding from the leg massage unit 2000 to both sides are inserted into the connection brackets 3220 to be rotatably supported.

[0374] The upper part of the connection bracket 3220 is detachably formed with respect to the lower part thereof, facilitating the assembly of the leg massage unit 2000. When the up and down rotation of the leg massage unit 2000 is adjusted by the leg angle adjustment unit 3500, the leg massage unit rotation shaft 2010 rotates relative to the connection bracket 3220 while achieving the up and down rotation of the leg massage unit 2000.

[0375] The swing drive unit 3300 provides a driving force for the leg massage unit 2000 to rotate in the horizontal direction with respect to the support shaft 3110. In order to show the configuration of the swing drive unit 3300, Fig.19 The swing frame 3200 is shown in a state where the upper surface is removed.

[0376] According to an embodiment of the present disclosure, the swing drive unit 3300 is disposed on the swing frame 3200. The swing drive unit 3300 includes a swing drive motor 3310 and a worm gear 3320.

[0377] The swing drive motor 3310 provides a driving force for the swing frame 3200 to be able to rotate in the horizontal direction relative to the support shaft 3110 while supporting the leg massage unit 2000.

[0378] The swing drive unit 3300 is disposed in a space part 3230 formed inside the swing frame 3200. The swing frame 3200 includes a space part 3230 between the bodies formed by its front surface 3202, upper surface, and lower surface 3204.

[0379] The swing drive motor 3310 is disposed on the lower surface 3204 of the swing frame 3200. One side of the swing drive motor 3310 is fixed to the motor fixing fixture 3235. A worm gear 3320 is connected to the motor shaft of the swing drive motor 3310. The worm gear 3320 has a worm gear shaft 3311 connected to the motor shaft, and the other side thereof is rotatably fixed to the shaft fixing fixture 3236.

[0380] The worm gear 3320 is connected in such a way as to guide the movement of the swing frame 3200 relative to the fixed wheel 3120 when the swing drive motor 3310 rotates.

[0381] The worm gear 3320 is disposed in a crossed configuration with the fixed wheel 3120 so as to mesh with the gear formed on the outer circumferential surface of the fixed wheel 3120.

[0382] The support shaft 3110 and the fixed wheel 3120 are disposed in a fixed state. Therefore, when the worm gear 3320 rotates by means of the swing drive motor 3310, the swing frame 3200 incorporating the swing drive unit 3300 including the worm gear 3320 is guided by the fixed wheel 3120 to rotate in the horizontal direction.

[0383] The rotation of the swing drive motor 3310 is converted by the swing adjustment unit 3100 into the rotation of the swing frame 3200 relative to the support shaft 3110. Thus, the leg massage unit 2000 coupled to the swing frame 3200 can rotate in the horizontal direction and in the left - right direction.

[0384] The rotation of the swing drive motor 3310 is rotated by the control unit, and the forward and reverse rotation of the swing drive motor 3310 is converted into the left - right rotation of the leg massage unit 2000. To accurately control the rotation of the swing drive motor 3310, a sensor such as an encoder can be provided to sense the rotation of the swing drive motor 3310.

[0385] According to an embodiment of the present disclosure, when the swing drive unit 3300 is disposed on the swing frame 3200, it is relatively advantageous for the space utilization of the seat frame 1250 on which various components are disposed. In addition, the swing drive unit 3300 is integrated with the swing frame 3200 to form a modular unit (i.e., an assembled unit component). Therefore, during the assembly of the massage device, the assembly process can be simplified and easily achieved.

[0386] The swing adjustment unit of the leg massage unit connection device according to the present invention enables the massage device to provide various stretching modes and the like by realizing various movements such as spreading the user's legs apart, rotating together in one lateral direction, and rotating together in the other lateral direction.

[0387] Fig. 20 is a perspective view of the leg angle adjustment unit according to an embodiment of the present invention, Fig.21 is in Fig. 20 a perspective view showing a part of the housing cut away in the gear box of the leg angle adjustment unit shown.

[0388] Referring to Fig.17 、 18 20, 21, the leg angle adjustment unit 3500 according to an embodiment of the present disclosure is provided for rotating the leg massage unit 2000 in the up - down direction.

[0389] The leg angle adjustment unit 3500 includes at least a part of an angle adjustment unit frame 3600, a leg rotation motor 3732, and a leg support unit 3800. The leg rotation motor 3732 may be provided in the form of a gear box 3700.

[0390] According to an embodiment of the present disclosure, the angle adjustment unit frame 3600 may be fixed to the swing frame 3200 of the swing adjustment unit 3100. The angle adjustment unit frame 3600 is hung below the lower surface 3204 of the swing frame 3200 and is mounted in a suspended state.

[0391] The angle adjustment unit frame 3600 may be formed of a plate and / or a frame rod, etc., and a gear box configuration space 3670 may be formed inside. For example, it may include a plate forming upper and lower surfaces 3612, 3614 and vertical frame rods 3616 disposed at the edges between the upper and lower surfaces 3612, 3614. The space between the upper and lower surfaces 3612, 3614 forms the gear box configuration space 3670. However, the present invention is not limited to the structure of the angle adjustment unit frame.

[0392] A leg rotation motor 3732 that provides a driving force for rotating the leg massage unit 2000 in the vertical direction may be disposed on the angle adjustment unit frame 3600.

[0393] According to an embodiment of the present disclosure, the leg rotation motor 3732 is modularized into a gear box 3700 and is disposed on the angle adjustment unit frame 3600 in a modular form.

[0394] The gear box 3700 includes a housing 3710, a leg rotation motor 3732, and a gear portion having a plurality of gears that reduce the rotation speed of the leg rotation motor 3732 and drive an angle adjustment rotation shaft 3760.

[0395] The housing 3710 accommodates the leg rotation motor 3732 and first to third gear portions 3730, 3740, 3750 inside.

[0396] The first gear portion 3730 includes a first worm 3734 connected to the motor shaft of the leg rotation motor 3732. The first gear portion 3730 is disposed so as to extend upward of the leg rotation motor 3732.

[0397] The portion of the housing 3710 that accommodates the leg rotation motor 3732 and the first gear portion 3730 forms a first housing portion 3713.

[0398] The second gear portion 3740 includes a worm wheel 3742 meshing with the first worm 3734 and a second worm 3744 coaxially coupled to the worm wheel 3742. In the gear box arrangement space 3670, the second gear portion 3740 is arranged in a manner that intersects with the first gear portion 3730 and extends in the front-rear direction.

[0399] The worm wheel 3742 and the second worm 3744 form a reduction ratio to reduce the rotational speed transmitted to the worm wheel 3742 and output it to the output gear 3752.

[0400] The portion of the housing 3710 that houses the second gear portion 3740 forms a second housing portion 3714.

[0401] The third gear portion 3750 includes an output gear 3752 meshing with the second worm 3744. An angle adjustment rotating shaft 3760 is connected to the output wheel 3752. In the gear box arrangement space 3670, the third gear portion 3750 is arranged in front of the first gear portion 3730 and the leg rotation motor 3732 and extends in the left-right direction.

[0402] The portion of the housing 3710 that houses the third gear portion 3750 forms a third housing portion 3715. The angle adjustment rotating shaft 3760 penetrates the housing 3710 (i.e., the third housing portion 3715) and extends outward.

[0403] The gear box 3700 can convert the rotation of the leg rotation motor 3732 into high torque required for the rotation of the leg massage portion 2000 and output it.

[0404] In the gear box arrangement space 3670, the upper and lower ends of the first housing portion 3713 are fixed to the angle adjustment portion frame 3600. That is, the upper end of the first housing portion 3713 is fixed to the upper surface 3612 of the angle adjustment portion frame, and the lower end is fixed to the lower surface 3614 of the angle adjustment portion frame. In addition, a pair of jigs 3620 that rotatably support both ends of the angle adjustment rotating shaft 3760 are fixed to the lower surface 3614 of the angle adjustment portion frame 3600. As described above, the gear box 3700 can be easily assembled with the angle adjustment portion frame 3600.

[0405] The gear box 3700 according to an embodiment of the present disclosure can compactly arrange the leg rotation motor and the gears in the gear box arrangement space 3670 within the angle adjustment portion frame 3600. The leg angle adjustment portion 3500 is modularized and can be assembled to the massage device in the form of a single assembled component in a modular form.

[0406] The rotation of the leg rotation motor 3732 is a rotation performed by the control unit. The forward and reverse rotations of the leg rotation motor 3732 can cause the up and down rotation of the leg support part 3800. In order to accurately control the rotation of the leg rotation motor 3732 and to sense the rotation of the leg rotation motor 3732, a sensor such as an encoder can be provided. Thus, the angle of the leg massage part 2000 can be adjusted.

[0407] The leg support part 3800 includes an angle adjustment bracket 3810 having a connection end fixed to the angle adjustment rotation shaft 3760 and a moving wheel 3820.

[0408] The angle adjustment bracket 3810 branches to one side or both sides to form connection ends fixed to the angle adjustment rotation shaft 3760 on both sides. A moving wheel 3820 in contact with the back surface of the leg massage part 2000 is connected to the other end of the angle adjustment bracket 3810.

[0409] When the leg support part 3800 rotates upward due to the rotation of the leg rotation motor 3732, the leg support part 3800 rotates the leg massage part 2000 upward around the leg massage rotation axis in such a way as to push and lift the back surface of the leg massage part 2000 upward. When the leg rotation motor 3732 rotates in the opposite direction and causes the leg support part 3800 to rotate downward, the leg massage part 2000 rotates downward by its own weight while being supported by the leg support part 3800.

[0410] Fig. 22 The state in which the leg massage part rotates upward (i.e., is lifted) due to the leg angle adjustment part in the massage device according to an embodiment of the present invention is shown.

[0411] According to an embodiment of the present invention, the leg angle adjustment part 3500 is provided as a leg angle adjustment part 3500 modularized in a form supported on the main frame 1100 (for example, the seat frame 1250). The mechanical connection of the leg angle adjustment part 3500 can be completed only by the assembly process of fixing the angle adjustment part frame 3600 in front of the seat frame 1250.

[0412] When adjusting the rotation angle of the leg massage part 2000 in the up and down direction by rotating the leg support part 3800, interference with other components provided in the seat frame 1250 and / or the base frame 1300 can be prevented or minimized to the greatest extent. Therefore, as Fig. 22 shown, the leg massage part 2000 can have an increased angle adjustment range.

[0413] In addition, with the output of the leg rotation motor 3732, the angular velocity at which the leg massage unit 2000 may move can be greater than that of the actuator. Therefore, the movement of the leg massage unit 2000 of the massage device can be further accelerated.

[0414] Known massage devices are configured with a telescopic actuator on a base frame or a seat frame. The leg massage unit is rotated by the telescopic movement of the actuator to perform angle adjustment of the leg massage unit. In order to increase the rotation angle of the leg massage unit, an actuator with a long telescopic length needs to be configured, and an actuator also needs to be configured to prevent interference with other components within the base frame or the seat frame. Due to spatial constraints for setting the actuator and interference between the actuator and the seat frame and / or the base frame, there are limitations in increasing the rotation angle of the leg massage unit. For example, in a known configuration with an actuator elongation method, it is not easy to rotate the leg massage unit upward to the extent Fig. 22 shown.

[0415] In addition, in recent years, massage devices have evolved in a way that incorporates various functions, and there is insufficient space within the base frame or the seat frame for setting components for performing various functions. However, if the leg angle adjustment unit is configured outside the main frame as in the present invention, space for assembling other components within the base frame or the seat frame can be ensured.

[0416] According to other embodiments of the present disclosure, a connection device for a leg massage unit can be provided with a leg angle adjustment unit 3500 without a swing adjustment unit 3100.

[0417] The angle adjustment unit frame 3600 can be directly connected to the seat frame 1250 or fixed to a seat frame extension extending from the seat frame 1250. For example, the swing adjustment unit described in connection with an embodiment of the present invention can correspond to the seat frame extension.

[0418] According to other embodiments of the present disclosure, a leg angle adjustment unit 3500 can be provided for an integrated leg massage unit 2000 in which one side leg massage unit 2001 and the other side leg massage unit 2002 are integrally combined. The leg angle adjustment unit 3500 is provided for the integrated leg massage unit 2000, and the leg support unit 3800 can push up the back of the integrated leg massage unit 2000 to rotate the integrated leg massage unit 2000 upward.

[0419] In addition, a leg angle adjustment unit 3500 may be provided for the leg massage unit 2000 in which the one-side leg massage unit 2001 and the other-side leg massage unit 2002 operate independently. In this case, the leg angle adjustment unit 3500 for the one-side leg massage unit 2001 and the leg angle adjustment unit 3500 for the other-side leg massage unit 2002 are provided, and the rotation angles of the one-side leg massage unit 2001 and the other-side leg massage unit 2002 in the vertical direction can be adjusted respectively.

[0420] Fig.23 FIG. is for explaining the operation of the leg massage unit of the leg massage unit connection device of the massage device according to the present invention.

[0421] Fig.23 Part (a) of FIG. shows the initial position of the leg massage unit 2000 in the massage device. The one-side leg massage unit 2001 and the other-side leg massage unit 2002 are connected in an independent operation manner, and a leg massage unit connection device 3000 provided with a swing adjustment unit 3100 and a leg angle adjustment unit 3500 is provided corresponding to the one-side leg massage unit 2001 and the other-side leg massage unit 2002 respectively.

[0422] Fig.23 Part (b) of FIG. shows adjusting the upward rotation angles of the one-side and the other-side leg massage units 2001 and 2002 from the initial position (i.e., adjusting to a raised state), and the one-side and the other-side leg massage units 2001 and 2002 swing and rotate in an outward direction away from each other. Such movements of the one-side and the other-side leg massage units 2001 and 2002 achieve the movement of raising the user's legs while spreading the two legs apart. At this time, the upward rotation angles and the outward rotation angles of the one-side and the other-side leg massage units 2001 and 2002 may be different.

[0423] Fig.23 Part (c) of FIG. shows the one-side and the other-side leg massage units 2001 and 2002 swing and rotate in one direction. The one-side and the other-side leg massage units 2001 and 2002 can together achieve a leg swing action mode of repeating movements from one direction to the other direction. At this time, the one-side and the other-side leg massage units 2001 and 2002 can perform a swing action in a state of being lifted upward.

[0424] As Fig.23 shown, in the massage device according to the present invention, the leg massage unit can achieve various movements, and thus, the massage device can provide various stretching modes and massage modes.

[0425] Hereinafter, referring to Figures 24 to 33, the specific configuration, processing, functions, etc. of the massage device 200 according to the embodiments (hereinafter referred to as "the second embodiment") that can achieve various actions and even movements, including the relative actions to the horizontal rotation (movement) of the leg massage part to the combined actions, will be described in detail.

[0426] It goes without saying that one or more components of the above massage device 100 can be combined or selectively used in the massage device 200 described below.

[0427] In addition, some of the terms and / or reference numerals referring to the massage device 200 and its subordinate components according to the second embodiment described below may be different from the terms and / or reference numerals of the above massage device and the like.

[0428] Since this is for the instrumental necessity of effectively explaining the corresponding embodiment, etc., if the corresponding technical idea can be achieved at the level of those skilled in the art, one or more of the components of the embodiment described below should be interpreted as being the same as or equivalent to one or more of the above components.

[0429] For example, the first and second arm massage parts 250A and 250B described in the second embodiment below may correspond to the arm massage part 3000 described in the above embodiment (refer to Figures 1 to 16 the embodiment described). The first and second leg massage parts 230A and 230B described in the second embodiment below may correspond to the leg massage bodies 2300A and 2300B described in the above embodiment and / or the leg massage parts 2001 and 2002 of the embodiment referred to Figures 17 to 23 to the embodiment described.

[0430] In addition, the first and second horizontal drive parts 240AH and 240BH of the second embodiment that drive the first and second leg massage parts 230A and 230B to rotate (and / or move) in the horizontal direction may correspond to the leg drive part 2500 of the above embodiment or the swing adjustment part 3100 of the embodiment referred to Figures 17 to 23 to the embodiment described.

[0431] The first and second vertical drive parts 240AV and 240BV of the second embodiment that drive the first and second leg massage parts 230A and 230B to rotate (and / or move) in the vertical direction may correspond to the angle adjustment part 2710 or the leg angle actuator of the above embodiment, and may correspond to the leg angle adjustment part 3500 of the embodiment referred to Figures 17 to 23 to the embodiment described.

[0432] As described above, the leg massage units can be constituted by a pair of leg massage units 230A and 230B, and thus can be constituted by a pair of length adjustment units 240AL and 240BL, which are adjustment units for adjusting the lengths of the leg massage units 230A and 230B. The same applies to the horizontal drive units 240AH and 240BH for driving the horizontal rotation (movement) of the leg massage units 230A and 230B and the vertical drive units 240AV and 240BV for driving the vertical rotation (movement) of the leg massage units 230A and 230B.

[0433] The first length adjustment unit 240AL is connected to the first leg massage unit 230A and can adjust the length of the first leg massage unit 230A. For example, the first leg length adjustment unit 240AL is disposed between one end and the other end of the first leg massage unit 230A and can connect one end and the other end of the first leg massage unit 230A. The first leg length adjustment unit 240AL can adjust the length of the first leg massage unit 230A by providing a length adjustment driving force for adjusting the length between one end and the other end of the first leg massage unit 230A to the first leg massage unit 230A. The same applies to the second leg length adjustment unit 240BL.

[0434] The first vertical drive unit 240AV is connected to the first leg massage unit 230A and can adjust the angle (vertical direction) of the first leg massage unit 230A. For example, the first vertical drive unit 240AV is disposed between the rear of the first leg massage unit 230A and the body massage unit and can connect the first leg massage unit 230A and the body massage unit. The first vertical drive unit 240AV makes the first leg massage unit 230A rotate (or tilt) in the clockwise or counterclockwise direction by pushing the first leg massage unit 230A forward or pulling it backward, thereby adjusting the angle of the first leg massage unit 230A.

[0435] As described above, the first vertical drive unit 240AV is disposed between the rear of the first leg massage unit 230A and the body massage unit to connect the first leg massage unit 230A and the body massage unit, but is not limited thereto.

[0436] For example, the first vertical drive unit 240AV can be disposed at various positions (such as the side of the first leg massage unit 230A, the rotation hinge axis of the first leg massage unit 230A, between the first leg massage unit 230A and the main frame 1100, the rear of the first leg massage unit 230A, etc.) that can make the first leg massage unit 230A rotate in the clockwise or counterclockwise direction. The configuration, position, and driving method of the second vertical drive unit 240BV can also be the same.

[0437] It should be noted that terms such as up and down, front and back, vertical, horizontal, left and right used in the following description are only for indicating relative references for describing embodiments of the present invention, rather than for specifying a certain direction or position under an absolute reference. It is natural that they can be relatively changed according to the position of the target individual, the position or direction of view, etc.

[0438] Hereinafter, taking the Z-axis direction (refer to Figure 4 , Fig.17 ) as the reference direction for up and down or vertical, embodiments of the present invention will be described. In the corresponding view, embodiments of the present invention are described by taking the X-axis direction as the reference direction for the front and back directions and the Y-axis direction as the reference direction for the left or right directions. For example, the positive direction of the Z-axis corresponds to the up direction, the upper side, the upper part, or the corresponding directionality, and the negative direction of the Z-axis corresponds to the down direction, the lower side, the lower part, or the corresponding directionality.

[0439] In addition, when taking the direction axes shown in Figure 4 etc. as the reference, the XY plane or a plane parallel to the XY plane is called the reference plane for the first and second leg massage parts 230A and 230B to rotate or move in the horizontal direction, and the XZ plane or a plane parallel to the XZ plane becomes the reference plane for the first and second leg massage parts 230A and 230B to rotate or move in the vertical direction.

[0440] As described above, the first and second leg massage parts 230A and 230B can rotate in the up and down directions, and the massage device 200 can tilt forward or backward. Therefore, the rotation (movement) of the first and second leg massage parts 230A and 230B in the horizontal direction can include rotation (movement) based on the XY plane or the plane direction corresponding to the XY plane according to the angles, postures, etc. of the massage device 200 and / or the first and second leg massage parts 230A and 230B.

[0441] Figure 24 to Figure 26 is a block diagram showing the detailed configuration of the massage device 200 according to an embodiment of the present invention, Fig. 27 is a flowchart for explaining the processing procedure according to an embodiment of the present invention.

[0442] As Fig.24 shown, the massage device 200 of the present invention may include a body massage part; a body driving part 220; first and second leg massage parts 230A and 230B; first and second leg driving parts 240A and 240B; first and second arm massage parts 250A and 250B; first and second arm driving parts 260A and 260B; a control part 270, and an interface part 280 or more than one of them.

[0443] Figure 24 to Figure 26 is a block diagram of the massage device 200 for highlighting the second embodiment of the present invention. Therefore, the massage device 200 of the present invention may additionally include, according to the implementation form, other configurations described in the above embodiments in addition to the configurations shown in Figure 24 to Figure 26 It goes without saying that other configurations described in the above embodiments other than the configurations shown in

[0444] Fig.25 The constituent elements of the massage device 200 shown in etc. may be physically distinguishable constituent elements or may be distinguishable according to functionality or theory.

[0445] That is, since each constituent element shown in the drawings conforms to the constituent elements for effectively explaining the technical idea according to the present invention, if the functions performed by the configuration of the present invention can be achieved even if each constituent element is integrated or separated, it should be interpreted as being within the scope of the present invention, and if the constituent elements perform the same or similar functions, it should be interpreted as being within the scope of the present invention regardless of the naming consistency.

[0446] In addition, the overall control method of the massage device according to the present invention can be implemented by a set of processes related to data processing, control, calculation, input / output, etc. or even an algorithm. Therefore, it can be implemented in the form of software that is driven on a device, computer (or equivalent device), module, or its subordinate configuration, etc.

[0447] As a first leg massage part 230A which is a configuration of the massage device 200 according to the present invention, it can be arranged below the body massage part for massaging at least a part of the user's body. The second leg massage part 230B can also be arranged below the body massage part and can be arranged substantially side by side with the first leg massage part 230A to conform to the human body structure.

[0448] As a first arm massage part 250A which is a configuration of the massage device 200 according to the present invention, it can be arranged on the side of the body massage part, at a position corresponding to the first leg massage part 230A. The first arm massage part 250A can be configured to accommodate the user's arm part (left arm or right arm) and perform various types and methods of massage actions on the accommodated arm part.

[0449] The second arm massage part 250B is arranged on the side of the body massage part (specifically, at a position opposite to the first arm massage part 250A) to conform to the human body structure, at a position corresponding to the second leg massage part 230B.

[0450] The first leg driving unit 240A of the present invention can be configured to perform functions such as rotating, moving, or telescoping (extending and contracting) the first leg massaging unit 230A in more than two directions according to a user input signal, an internal algorithm for determining whether a preset condition is satisfied, or the specifications and functions of the first leg massaging unit 230A, etc.

[0451] The first leg driving unit 240A has been described in the above embodiment. As Fig.25 shown, it may include one or more of a first length adjusting unit 240AL for adjusting the length of the first leg massaging unit 230A, a first vertical driving unit 240AV for rotating (moving, tilting, etc.) the first leg massaging unit 230A in the vertical direction (up and down direction), and a second horizontal driving unit 240BH for rotating (moving, tilting, etc.) the first leg massaging unit 230A in the horizontal direction (left and right direction).

[0452] Similar to the first leg driving unit 240A, the second leg driving unit 240B may also include one or more of a second length adjusting unit 240BL for adjusting the length of the second leg massaging unit 230B, a second vertical driving unit 240BV for rotating (moving, tilting, etc.) the second leg massaging unit 230B in the vertical direction (up and down direction), and a second horizontal driving unit 240BH for rotating (moving, tilting, etc.) the second leg massaging unit 230B in the horizontal direction (left and right direction).

[0453] When the first leg massaging unit 230A is a leg massaging unit for accommodating the user's left leg, the rotation of the first leg massaging unit 230A to the left (based on the user sitting on the massage device 200) may refer to the first leg massaging unit 230A rotating outward (abduction), and the rotation of the first leg massaging unit 230A to the right may refer to the first leg massaging unit 230A rotating inward (adduction).

[0454] From a corresponding perspective, the left and right rotations of the second leg massaging unit 230B (accommodating the user's right leg) may be rotating inward (adduction) and rotating outward (abduction) respectively.

[0455] From this perspective, when the first leg massaging unit 230A rotates to the left and the second leg massaging unit 230B rotates to the right, the left and right legs are separated from each other (moved away or spaced apart), that is, the abduction movement of the leg massaging units 230A and 230B is achieved. When the first leg massaging unit 230A rotates to the right and the second leg massaging unit 230B rotates to the left, the left and right legs approach each other (get closer), that is, the leg massaging units 230A and 230B can achieve the adduction movement.

[0456] The detailed configuration and functions of the second leg driving unit 240B and the second leg driving unit 240B can correspond to those of the first leg driving unit 240A. Therefore, the following description will focus on the content of the first leg driving unit 240A.

[0457] The first arm massage unit 250A of the present invention can also be configured in the same manner as the first leg massage unit 230A so as to be adjustable in vertical rotation, horizontal rotation, and length by the first arm driving unit 260A. The same applies to the second arm massage unit 250B.

[0458] The detailed configurations of the first and second leg massage units 230A and 230B of this embodiment can correspond to those of the leg massage units 2000A, 2000B, 2001, and 2002 described in the above embodiments. The detailed content regarding their structures, operations, controls, etc. will be replaced by the above description. The same applies to the first and second leg driving units 240A and 240B of this embodiment.

[0459] The body driving unit 220 of the present invention can be configured to adjust or change the position, posture, or angle, etc. of the body massage unit according to a user input signal, an internal algorithm for determining whether a preset condition is satisfied, or the specifications and functions of the body massage unit.

[0460] According to an embodiment, the body driving unit 220 can change the position, posture, etc. of the body massage unit to provide convenience and safety when the user leaves the massage device 200, etc., and to tilt the body massage unit forward.

[0461] In addition, to provide a more comfortable posture for the user, or to ensure sufficient space for the movement and rotation of the leg massage units 230A and 230B and prevent safety accidents, etc., the body driving unit 220 can change the position, posture, etc. of the body massage unit in such a way that the body massage unit tilts backward (recline mode).

[0462] As described above, it goes without saying that the body driving unit 220 of the present invention can slide the body massage unit forward or backward.

[0463] The body driving unit 220 of the present invention can be designed to be controlled by the control unit 270 of the present invention. It goes without saying that the first leg driving unit 240A and the first vertical driving unit 240AV, the first horizontal driving unit 240AH, and the first length adjusting unit 240AL provided in the first leg driving unit 240A can also be designed to be controlled by the control unit 270 of the present invention.

[0464] The control unit 270 of the present invention controls in such a way as to form the relative movements of the first leg massage unit 230A and the second leg massage unit 230B.

[0465] The relative movements described in the present invention refer to the movement relationship between the first leg massage unit 230A and the second leg massage unit 230B, and refer to movement relationships including various movements such as the relative movement, independent movement, linkage movement, and / or quasi-linkage movement of the first leg massage unit 230A and the second leg massage unit 230B. Among them, the movement may refer to a movement associated with rotation and length adjustment.

[0466] The present invention includes first and second leg massage units 230A and 230B that respectively implement one or more of horizontal rotation (movement), vertical rotation (movement), and length adjustment. Through various combined applications of their length adjustment and angle adjustment (up and down and / or left and right), various movement modes such as movement or stretching in various forms and ways can be provided to the user.

[0467] In particular, when using the massage device 200 according to an embodiment of the present invention, lower body movement and lower body stretching with spreading the legs and gathering the legs as basic movements can be provided. Therefore, the gluteal muscles including the gluteus maximus, gluteus medius, and gluteus minimus can be strengthened or relaxed without burdening the knees or waist, and the adductor muscles on the inner thigh and the muscles in the hip joint area can also be strengthened and even relaxed.

[0468] In addition, as will be described later, if the user is guided to use their own force (moving force), the effect of movement or stretching can be further increased, and then the activity of the muscles in the thigh part, which belongs to the large muscles, can be concentratedly guided, so that it can also help with postprandial blood glucose regulation and the like together with the basic effects such as muscle strengthening.

[0469] As Fig. 27 shown, when one or more of the first leg massage unit 230A and the second leg massage unit 230B start a rotation or movement action (hereinafter referred to as a "swing action") based on the horizontal direction (step S110), the control unit 270 of the present invention generates a control signal for the swing action based on a default setting environment or a setting environment variably determined by the user (step S120), and outputs the generated control signal (first control signal, second control signal) to the first horizontal drive unit 240AH and / or the second horizontal drive unit 240BH (step S130A, step S130B).

[0470] The start of the swing action (step S110) can be achieved by various methods, such as by inputting through the user input unit 1400 and the like through a start signal, or automatically when the setting conditions for the start of the swing action are met.

[0471] The first horizontal drive unit 240AH and the second horizontal drive unit 240BH perform driving (steps S140A and S140B) to rotate (move, tilt, etc.) the first leg massage unit 230A and the second leg massage unit 240BH in the horizontal direction according to the first control signal and the second control signal input from the control unit 270.

[0472] In order to relieve tension, relax muscles, expand the range of motion, promote stability, increase joint flexibility, etc., the control unit 270 of the present invention can control the massage device 200 to perform a preparatory action mode (pre mode) of low-intensity massage targeting the arms, legs, body, neck, spine, etc. through the massage device 200 before driving the swinging action.

[0473] Fig.28 It is a flowchart illustrating a processing procedure according to an embodiment of the present invention for implementing a swinging action.

[0474] As Fig.28 shown, when receiving a start signal for the swinging action (step S200), the control unit 270 of the present invention controls the first leg massage unit 230A to rotate in the first direction (for example, the left direction (counterclockwise direction)), and controls the second leg massage unit 230B to rotate in the second direction (for example, the right direction (clockwise direction)) (step S210).

[0475] According to an embodiment, after moving or rotating the first leg massage unit 230A and the second leg massage unit 230B to the default position, the control unit 270 of the present invention can control them in a manner to achieve the swinging action. The default position can be a position where the first and second leg massage units 230A and 230B are gathered side by side in front of the user sitting on the massage device 200, etc.

[0476] When completing one cycle of the above processing (step S210) (step S220), the control unit 270 of the present invention controls in a manner to change the rotation directions of the first leg massage unit 230A and the second leg massage unit 230B (step S230).

[0477] One cycle of processing can be set based on the horizontal rotation range reached by the leg massage units 230A and 230B according to the physical specifications of the first and second leg massage units 230A and 230B or the massage device 200, or user settings, etc. (for example, 60 degrees based on the rotation path, etc.).

[0478] For example, after the control unit 270 of the present invention controls the first leg massage unit 230A located at the default position or the like to rotate in the left direction (counterclockwise direction) and controls the second leg massage unit 230B located at the default position or the like to rotate in the right direction (clockwise direction) (step S210), if the rotation angles of the leg massage units 230A and 230B are 60 degrees (step S220), then it is controlled in such a way as to switch the rotation directions of each of the leg massage units 230A and 230B (step S230), control the first leg massage unit 230A to rotate in the right direction (clockwise direction), and control the second leg massage unit 230B to rotate in the left direction (counterclockwise direction) (step S210).

[0479] The range within which the leg massage units 230A and 230B rotate or move through the swinging motion is preferably configured to be automatically set using DB (database)-ized user information (such as identification information), the measured body information of the user, etc., or to be variably set by methods such as the user selecting through the interface unit (the above-mentioned user input unit 1400) 280.

[0480] Since the available range of the body or the pain position / angle, etc. varies according to the user's characteristics, medical conditions, injured parts, etc., as described above, when adjusting the rotation (movement) range according to the swinging motion through the user's selection, etc., higher user directivity can be achieved.

[0481] Among them, the user information is various information that can be DB-ized, and can be one or more pieces of information regarding the user's age, gender, medical condition, injured part, etc. In addition, the user body information can also be information that has been previously DB-ized, and can also be information on the user's body dimensions measured by a measuring device provided in the massage device 200, etc.

[0482] The angle range by which the first and second leg massage units 230A and 230B rotate provides an input environment such as a scroll for determining the rotation or movement range through the interface unit 280, etc., and based on this, prompt information regarding the rotation range, etc. is provided through the user's selection or the audio output module 1500, and can be variably set by means such as selection based on voice recognition, etc.

[0483] When preset termination conditions such as login cancellation, forced termination, system shutdown, and occurrence of an emergency event are not met, the Fig.28 shown processing procedure (step 240) can be cyclically applied.

[0484] Thus, the control unit 270 of the present invention can make the first and second leg massage units 230A and 230B rotate (move, etc.) in the horizontal direction, and control the rotation (movement, etc.) directions of the first and second leg massage units 230A and 230B to alternate, so that the first and second leg massage units 230A and 230B can repeatedly perform actions of moving away from and approaching each other with the horizontal direction as a reference.

[0485] The control unit 270 of the present invention can be configured to generate count information of the swinging action by using information such as the number of times of alternating rotation (movement, etc.) directions.

[0486] As described above, if the count information is generated, the control unit 270 of the present invention can control the display of the count information to the user by using a visual medium and / or an auditory medium, and when the count information meets the number information input or set by the user or the like, it can be controlled in a manner of outputting a prompt message for this information.

[0487] When only one of the first and second leg massage units 230A and 230B performs a swinging action through the user's selection according to the embodiment, etc., the control unit 270 of the present invention can control the position of the leg massage unit that is not the target of the swinging action to be fixed.

[0488] As described above, when only controlling the rotation or movement of a specific leg massage unit in the horizontal direction in a state where the position of the leg massage unit that is not the target of the non-swinging action is fixed, not only can the effects of exercise or stretching be more concentrated on a specific leg, but also leg movement and even stretching can be effectively achieved when there is an injury or the like on a specific leg.

[0489] Fig.29 It is a flowchart illustrating the processing procedure formed according to the first mode of an embodiment of the present invention.

[0490] The embodiments of the present invention described below are equivalent to the following actions or modes: the rotational movement of the user's legs can be three-dimensionally reflected by organically combining the horizontal rotation (movement, etc.) of the first and second leg massage units 230A and 230B with the vertical rotation (movement, etc.) of the first and second leg massage units 230A and 230B, and an action or mode (hereinafter referred to as "the first mode") in which the muscle parts receiving the stimulation change differently over time (time-variant) can be achieved.

[0491] The control unit 270 of the present invention may be configured to control one or more of the first horizontal drive unit 240AH, the first vertical drive unit 240AV, the second horizontal drive unit 240BH, and the second vertical drive unit 240BV, so that one or more of the first leg massage unit 230A and the second leg massage unit 230B rotate or move in the three-dimensional space direction (a combined direction of the horizontal direction (left and right direction) and the vertical direction (up and down direction)).

[0492] Before the start of the first mode, the control unit 270 of the present invention may control the body drive unit 220 to first perform an inclination action of inclining the body massage unit by a preset reference angle backward, so as to ensure sufficient space for the rotation or movement of the first and second leg massage units 230A and 230B and prevent the occurrence of safety accidents, etc. (step S300).

[0493] When the first mode starts, the control unit 270 of the present invention controls the first leg massage unit 230A to rotate (move, etc.) in the first direction (or the second direction) by controlling the first horizontal drive unit 240AH, and controls the second leg massage unit 230B to rotate in the second direction (or the first direction) by controlling the second horizontal drive unit 240BH (step S310).

[0494] The first direction and the second direction, which are the directions in which the first and second leg massage units 230A and 230B rotate with respect to the horizontal direction, are only used to show that the rotation directions of the first leg massage unit 230A and the second leg massage unit 230B are opposite to each other, and do not represent specific directions of an absolute reference.

[0495] As described above, the opposite rotation directions of the first leg massage unit 230A and the second leg massage unit 230B (for example, clockwise direction (counterclockwise direction) vs. counterclockwise direction (clockwise direction)) mean that both the first and second leg massage units 230A and 230B rotate in the outward direction, or both rotate in the inward direction, that is, the first and second leg massage units 230A and 230B perform outward rotation movement or inward rotation movement.

[0496] According to the current positions of the first and second leg massage units 230A and 230B, the user's selection, or the default setting, etc., the inward rotation movement (the movement of the two legs gathering in the inward direction, inward rotation) may be performed prior to the outward rotation movement (the movement of the two legs spreading in the outward direction, outward rotation). Conversely, it is natural that the outward rotation movement (outward rotation) may be performed prior to the inward rotation movement (inward rotation).

[0497] As described above, in the case where the first and second leg massage units 230A and 230B first move to the default positions, the outward rotation movement is performed prior to the inward rotation movement.

[0498] The control unit 270 of the present invention can control the first horizontal drive unit 240AH and the first vertical drive unit 240AV so that the outward rotation (such as movement) in the horizontal direction of the first leg massage unit 230A is linked with the upward rotation (such as movement) of the first leg massage unit 230A.

[0499] In addition, the control unit 270 of the present invention can control the first horizontal drive unit 240AH and the first vertical drive unit 240AV so that the inward rotation (such as movement) in the horizontal direction of the first leg massage unit 230A is linked with the downward rotation (such as movement) of the first leg massage unit 230A.

[0500] From the corresponding perspective, the control unit 270 of the present invention can control the second horizontal drive unit 240BH and the second vertical drive unit 240BV so that the outward rotation (such as movement) in the horizontal direction of the second leg massage unit 230B is linked with the upward rotation (such as movement) of the second leg massage unit 230B or the inward rotation (such as movement) in the horizontal direction of the second leg massage unit 230B is linked with the downward rotation (such as movement) of the second leg massage unit 230B.

[0501] Specifically, as Fig.29 shown, when the rotation directions of the first and second leg massage units 230A and 230B with respect to the horizontal plane or the horizontal direction are the outward rotation directions (outer side directions) (step S320), the control unit 270 of the present invention controls one or more of the first vertical drive unit 240AV and the second vertical drive unit 240BV so that the leg massage unit rotating in the outward rotation direction rotates upward (such as moves) (step S330A).

[0502] In addition, when the rotation directions of the first and second leg massage units 230A and 230B with respect to the horizontal plane or the horizontal direction are the inward rotation directions (inner side directions) (step S320), the control unit 270 of the present invention controls one or more of the first vertical drive unit 240AV and the second vertical drive unit 240BV so that the leg massage unit rotating in the inward rotation direction rotates downward (such as moves) (step S330B).

[0503] Fig.29 S330A and S330B, which are the processing steps of rotating in the vertical direction, are shown as the subsequent processing of S310, which is the processing step of the first and second leg massage units 230A and 230B rotating in the horizontal direction.

[0504] However, this is only for the sake of efficiency in explanation and understanding to distinguish each step. Therefore, according to the embodiment, the horizontal rotation and the vertical rotation can also be achieved simultaneously, or the vertical rotation can also be carried out first. In the case of the embodiment where the vertical rotation is carried out first, the first and second leg massage parts 230A and 230B that rotate upward can be controlled to rotate outward, and the first and second leg massage parts 230A and 230B that rotate downward can be controlled to rotate inward.

[0505] In the case of such an implementation structure according to the present invention, the upward movement and the outward opening of the first and second leg massage parts 230A and 230B are realized as a pair of actions, and the downward movement and the inward gathering of the first and second leg massage parts 230A and 230B are realized as a pair of actions.

[0506] Therefore, the movement of the user's legs to open and gather is realized by a more extended three-dimensional space. Therefore, not only can the effects associated with lower body movement or stretching be further enhanced, but also compared with the action of rotating (moving) the legs only in the horizontal direction or only in the vertical direction, more parts of the muscles can be stimulated, or a wider range of muscle activities can be guided.

[0507] The massage device 200 according to an embodiment of the present invention may include a first leg airbag 232A provided on the first leg massage part 230A and / or a second leg airbag 232B provided on the second leg massage part 230B.

[0508] In this case, the control unit 270 of the present invention can control the inflation or contraction of one or more of the first and second leg airbags 232B in linkage with the swinging action and / or the processing according to the first mode.

[0509] The swinging action itself or the first mode including the swinging action changes the position, angle, posture, etc. of the leg massage parts 230A and 230B. Therefore, as described above, when the inflation and contraction of the first leg airbag 232A provided on the first leg massage part 230A and / or the second leg airbag 232B provided on the second leg massage part 230B are in linkage with the swinging action and / or the processing according to the first mode, the occurrence of safety accidents or injuries can be effectively prevented, and the exercise and stretching effects can also be further improved.

[0510] When the airbag inflates, offsets and the like are suppressed, and the body part in contact with the airbag can be firmly supported. When the airbag contracts, the support is released, and the degree of freedom of the body part can be relatively increased.

[0511] When the first or second leg massage units 230A, 230B rotate outward (move, etc.) or perform a three-dimensional rotation (move) associated therewith with respect to the horizontal direction, the user's legs move away from the user's body center or spread outward with respect to the basic sitting posture.

[0512] Therefore, when the first or second leg massage units 230A, 230B rotate outward (move, etc.) with respect to the horizontal direction, rotate upward (move, etc.) with respect to the vertical direction, or when outward rotation and upward rotation are achieved simultaneously, when the control unit 270 of the present invention controls the first and / or second leg airbags 232A, 232B to expand (step S340A), it is possible to guide the rotation (move, etc.) of the legs that move away or spread while the leg part is firmly supported, thereby further improving the effect of leg stretching and the like.

[0513] From a corresponding perspective, when the first or second leg massage units 230A, 230B rotate inward (move, etc.) with respect to the horizontal direction, rotate downward (move, etc.) with respect to the vertical direction, or when inward rotation and downward rotation are achieved simultaneously, when the control unit 270 of the present invention controls the first and / or second leg airbags 232A, 232B to contract (step S340B), since the firm support state is released, it is possible not only to prevent injury but also to effectively relax the tense muscles.

[0514] As described above, if the inflation and control of the corresponding leg airbags 231A, 231B are cyclically controlled with timing by organically reflecting the rotational directionality of the corresponding first and second leg massage units 230A, 230B, it is possible to guide the repeated realization of muscle stimulation (tension, etc.) and muscle relaxation according to the length extension.

[0515] Fig.29 The processing for the inflation or contraction of the first and second leg airbags 232A, 232B is shown as a subsequent processing to the processing S310, S330 for the rotation of the first and second leg massage units 230A, 230B.

[0516] As described above, this is also an effective explanation for each step. Therefore, according to the embodiment, it can be configured to implement the control of the inflation or contraction of the first and second leg airbags 232A, 232B together with the horizontal direction rotation and / or the vertical direction rotation, or to perform the control of the inflation and contraction of the first and second leg airbags 232A, 232B before such rotation (horizontal and / or vertical direction) is achieved.

[0517] As referred to Fig.28Similar to the description given above, when one round of rotation of the leg massage units 230A and 230B is completed (step S350), the control unit 270 of the present invention controls the rotation directions of the leg massage units 230A and 230B in the (n + 1)-th (where n is a natural number of 1 or more) round to be opposite to the rotation directions of the leg massage units 230A and 230B in the n-th round (step S360). With this configuration, the inward rotation movement (leg lowering) and the outward rotation movement (leg raising) can be repeatedly executed.

[0518] According to an embodiment, the massage apparatus 200 of the present invention may include an airbag 290 provided at a position corresponding to the waist or pelvic region of the user.

[0519] When the first leg massage unit 230A and the second leg massage unit 230B rotate (move, etc.) in the same direction with respect to the horizontal direction (horizontal plane), that is, when both the first leg massage unit 230A and the second leg massage unit 230B rotate in the first direction (counterclockwise direction, left side direction, etc.) or both rotate in the second direction (clockwise direction, right side direction, etc.), the control unit 270 of the present invention may control the airbag 290 to expand.

[0520] In the case of the outward rotation movement or the inward rotation movement, since the two legs have opposite rotation directions to each other, the possibility of the center of the user's body shifting or twisting is relatively low. On the contrary, when both legs rotate in the same direction, the possibility of the center of the user's body shifting or swaying is relatively high, which may impose a burden on the waist and other parts and there is a risk of injury.

[0521] In the case of the implementation configuration of the present invention described above, the waist or pelvic region can be physically firmly supported by the expansion of the airbag 290. Therefore, not only can injuries be prevented, but also the effects of the movement or stretching according to the same direction rotation of the two legs can be improved.

[0522] Fig.30 It is a flowchart for explaining the processing procedure formed by a second mode according to an embodiment of the present invention.

[0523] The embodiments of the present invention described below correspond to the following actions or modes: actions or modes (hereinafter referred to as "second mode") that can more effectively enhance the movement characteristics according to the rotational directionality of the user's legs by organically combining the horizontal direction rotation (movement, etc.) of the leg massage units 230A and 230B with the length adjustment or regulation of the leg massage units 230A and 230B.

[0524] The control unit 270 of the present invention may be configured to control one or more of the first horizontal drive unit 240AH, the first length adjustment unit 240AL, the second horizontal drive unit 240BH, and the second length adjustment unit 240BL, so that the horizontal rotation of one or more of the first leg massage unit 230A and the second leg massage unit 230B is linked to the extension (elongation) or contraction (shrinkage) of the lengths of the corresponding leg massage units 230A and 230B.

[0525] Before the start of the second mode, the control unit 270 of the present invention may control the body drive unit 220 to first perform an inclination action of inclining the body massage unit backward by a predetermined reference angle, so as to ensure sufficient space for the rotation or movement of the leg massage units 230A and 230B and prevent the occurrence of safety accidents, etc. (step S400).

[0526] When the second mode starts, the control unit 270 of the present invention controls the first leg massage unit 230A to rotate (move, etc.) in the first direction (or the second direction) by controlling the first horizontal drive unit 240AH, and controls the second leg massage unit 230B to rotate in the second direction (or the first direction) by controlling the second horizontal drive unit 240BH (step S410).

[0527] Regarding the first direction and the second direction, which are the directions in which the leg massage units 230A and 230B rotate with respect to the horizontal direction, the sequence relationship between the inward rotation (inner rotation) and the outward rotation (outer rotation), and the content of the leg massage units 230A and 230B moving to the default position forward before the formation of the second mode, etc., correspond to the content described in the above first mode, so the detailed description thereof will be omitted.

[0528] The control unit 270 of the present invention may control the first horizontal drive unit 240AH and the first length adjustment unit 240AL, so that the outward rotation (movement, etc.) of the first leg massage unit 230A in the horizontal direction is linked to the length adjustment of the first leg massage unit 230A, or the inward rotation (movement, etc.) of the first leg massage unit 230A in the horizontal direction is linked to the length adjustment of the first leg massage unit 230A.

[0529] From the corresponding perspective, the control unit 270 of the present invention may control the second horizontal drive unit 240BH and the second length adjustment unit 240BL, so that the outward rotation (movement, etc.) of the second leg massage unit 230B in the horizontal direction is linked to the length adjustment of the second leg massage unit 230B, or the inward rotation (movement, etc.) of the second leg massage unit 230B in the horizontal direction is linked to the length adjustment of the second leg massage unit 230B.

[0530] Specifically, as Fig.30As shown, when the direction in which the leg massage parts 230A and 230B rotate with respect to the horizontal plane or even the horizontal direction is the outward rotation direction (outer direction) (step S420), the control part 270 of the present invention controls one or more of the first length adjustment part 240AL and the second length adjustment part 240BL (step S430A) to increase the length of the leg massage part rotating in the outward rotation direction.

[0531] In addition, when the direction in which the leg massage parts 230A and 230B rotate with respect to the horizontal plane or even the horizontal direction is the inward rotation direction (inner direction) (step S420), the control part 270 of the present invention controls one or more of the first length adjustment part 240AL and the second length adjustment part 240BL to reduce the length of the leg massage part rotating in the inward rotation direction (step S430B).

[0532] Although Fig.30 In the figure, step S430A and step S430B are shown as the subsequent processing of step S410, but as described in the first mode above, the order of these processing can be an example for effectively illustrating the processing process of the present invention.

[0533] In the case of such an embodiment of the present invention, the leg massage parts 230A, 230B increase in length and open outward as a pair, and the leg massage parts 230A, 230B decrease in length and gather inward as a pair.

[0534] That is, in the case of the second mode, since the leg length changes according to the posture or position of the individual legs, the intensity of changes in muscle extension and contraction, muscle tension (stimulation) and relaxation, etc. can be enhanced, thereby further improving the effects associated with lower body exercises or lower body stretching.

[0535] The control unit 270 of the present invention may control the expansion or contraction of one or more of the first and second leg airbags 232B in conjunction with the processing according to the second mode.

[0536] When the leg massaging parts 230A, 230B rotate outward and / or when the lengths of the leg massaging parts 230A, 230B increase, the control part 270 of the present invention controls the first and / or second leg airbags 232A, 232B to expand to stretch the strengthening muscles or strengthen the muscle tension (step S440A).

[0537] In the corresponding view, when the leg massage parts 230A and 230B rotate inwardly or when the lengths of the leg massage parts 230A and 230B decrease, the control part 270 of the present invention controls the first and / or second leg air bags 232A and 232B to contract, so as to strengthen muscle contraction or muscle relaxation (step S440B).

[0538] As described above, if the inflation and control of the corresponding leg air bags 231A and 231B are cyclically controlled in a timely manner by organically reflecting the rotational directionality and / or the length change direction of the corresponding leg massage parts 230A and 230B, etc., then muscle stimulation, tension, and muscle relaxation according to the length extension can be repeatedly achieved.

[0539] The control steps (step S440A, step S440B) for the inflation / contraction of the leg air bags 232A and 232B are as Fig.30 shown in the form, and can also be the same as the content described in the first mode above, that is, be implemented together with step S410 or step S430 (step S430A, step S430B) or be carried out prior to step S410 or step S430 (step S430A, step S430B).

[0540] As described in the first mode above, when the leg massage parts 230A and 230B complete one round of rotation (step S450), the control part 270 of the present invention changes the rotation direction of the leg massage parts 230A and 230B, so that the rotation directions of the leg massage parts 230A and 230B in the next round become opposite (step S460). With this configuration, the inward rotation movement (leg length reduction) and the outward rotation movement (leg length increase) can be repeatedly executed.

[0541] According to the embodiment, it is also possible to apply Fig.29 the processing in the form of an organic combination of the first mode shown in Fig.30 and the second mode shown in

[0542] For this purpose, the control part 270 of the present invention can control one or more of the first horizontal drive part 240AH, the first vertical drive part 240AV, the first length adjustment part 240AL, the second horizontal drive part 240BH, the second vertical drive part 240BV, and the second length adjustment part 240BL, so that the outward rotation, upward rotation, and length increase of the leg massage parts 230A and 230B are linked, and the inward rotation, downward rotation, and length reduction of the leg massage parts 230A and 230B are linked.

[0543] Fig.31 is a flowchart showing the processing procedure of an embodiment according to the present invention using the moving force. Fig.31The embodiment of the present invention shown in [Figure] can further improve the effect of leg movement by rotating or moving the leg massage units 230A and 230B in the direction corresponding to the force applied by the user.

[0544] The massage device 200 according to an embodiment of the present invention may include one or more of a first sensing sensor 231A that senses a force (hereinafter referred to as "moving force") applied by a user's leg part accommodated in the first leg massage unit 230A and a second sensing sensor 231B that senses a moving force applied by a user's leg part accommodated in the second leg massage unit 230B.

[0545] As Fig.31 shown, the control unit 270 of the present invention is configured to start a swinging action etc. (first mode, second mode, and third mode etc. to be described later) when receiving sensing signals from the first and second sensing sensors 231A and 231B (step S500), that is, when sensing the user's force.

[0546] As Fig.31 shown, preferably, only when the magnitudes of the sensing signals received from the sensing sensors 231A and 231B are above a first reference value (step S510), the control unit 270 of the present invention controls the start of the swinging action (step S520) to be able to induce a substantial exercise effect.

[0547] As described above, when receiving a sensing signal from the sensing sensors 231A and 231B or when the sensing signal is above the first reference value, the control unit 270 of the present invention controls to implement a swinging action etc. and controls the swinging action etc. to be implemented in the direction corresponding to the direction in which the moving force acts (step S520).

[0548] When the user applies a force to move a user's leg part (one or more of the left leg and the right leg) in a specific direction (e.g., clockwise direction) in a state where the user's leg part is accommodated in the leg massage units 230A and 230B, the leg massage units 230A, 230B etc. are stressed by the user's leg part. As described above, the sensing sensors 231A and 231B of the present invention can be configured to sense the force applied by the user's leg part.

[0549] Therefore, a plurality of sensing sensors 231A and 231B of the present invention can be provided at various positions (up, down, left, right directions etc.) of the leg massage units 230A and 230B to be able to effectively sense the direction of the moving force applied by the user's leg part.

[0550] After the start of a swinging motion or the like, that is, when the magnitude of the sensing signals received from the sensing sensors 231A and 231B while the leg massage units 230A and 230B are in a rotating or moving state is below a first reference value (step S530), the control unit 270 of the present invention can control the rotation or movement of the leg massage units 230A and 230B to stop, so as to accurately reflect the temporal trend of the force (moving force) applied by the user changing over time (step S540).

[0551] When the leg massage units 230A and 230B are still controlled to rotate in a situation where no moving force is applied or a moving force below an appropriate magnitude is applied, if not careful, the form will become that the user's leg part is dragged and rotated or moved by the arm massage unit 110.

[0552] In this regard, the first reference value can be regarded as information for guiding a substantial exercise effect and even a sense of exercise achievement, etc. The first reference value can be variably set by using the characteristic information (gender, age, weight, height, etc.) of the user that can be stored in the storage unit 1300, etc. in the above embodiments, or can also be set in a manner of user selection or input.

[0553] According to an embodiment, in a state where the magnitude of the sensing signal (magnitude of the moving force) is maintained above the first reference value, when the magnitude of the sensing signal gradually decreases or approaches the first reference value, the control unit 270 of the present invention can control the interface unit 280 to output prompt information such as encouraging exercise.

[0554] In addition, it is controlled in such a way that when a relatively weak moving force is applied (that is, when the magnitude of the sensing signals output by the sensing sensors 231A and 231B is small), the rotation or movement of the leg massage units 230A and 230B is realized lightly, and when a relatively strong moving force is applied, the rotation or movement of the arm massage unit 110 is realized heavily.

[0555] That is, the control unit 270 of the present invention can be configured to determine the rotation or movement speed of one or more of the first leg massage unit 230A and the second leg massage unit 230B based on the magnitude of the moving force (step S525).

[0556] According to an embodiment, when a relatively strong force (moving force) above a specific value is sensed by the sensing sensors 231A and 231B or when a high-intensity exercise mode is selected by the user or the like, the control unit 270 of the present invention can control the first leg driving unit 240A and / or the second leg driving unit 240B to make the leg massage units 230A and 230B rotate or move at a speed inversely proportional to the magnitude of the sensing signal.

[0557] In the case of the configuration described above, it is possible to guide the user to continuously apply a strong force and provide an effect substantially the same as that of rotating or moving a heavy object, etc.

[0558] It is preferably configured to cyclically apply Fig.31 the control process of the present invention shown in

[0559] Fig.32 is a diagram illustrating a processing procedure according to an embodiment of the present invention using reverse driving. Fig.32 The embodiment of the present invention shown in

[0560] The control unit 270 of the present invention can control the interface unit 280 to output guidance information for guiding in a manner of applying a force in a specific direction (step S600).

[0561] The interface unit 160 of the present invention outputs guidance information for guiding in a manner of applying a force in a specific direction to a leg part accommodated in the first leg massage part 230A and / or the second leg massage part 230B based on a control signal received from the control unit 270, etc. (step S600).

[0562] The control unit 270 of the present invention controls the first leg driving unit 240A and / or the second leg driving unit 240B to perform the above-described swinging action in a direction opposite to the specific direction after outputting the guidance information (step S620).

[0563] The specific direction included in the guidance information can be not only the left-right direction based on the horizontal direction, the up-down direction based on the vertical direction, but also a three-dimensional direction combining the horizontal direction and the vertical direction.

[0564] In the massage device 200 according to the present invention, a plurality of leg massage parts 230A, 230B can be provided. As described in the above embodiment, the left and right leg massage parts can be configured to be able to act independently or relatively.

[0565] Therefore, the specific direction can be a direction common to the leg massage parts 230A, 230B, a direction symmetric to each other of the leg massage parts 230A, 230B, or a direction different from each other, etc.

[0566] For example, the guiding information may be information for guiding both legs to apply force in the left (right) direction, information for guiding both legs to apply force in the direction of spreading apart, information for guiding both legs to apply force in the direction of converging, information for guiding force to be applied to both legs in the outer direction 45 degrees above, or information for guiding the left leg to apply force to the upper right and the right leg to apply force to the lower left, etc.

[0567] As described above, when the leg massage parts 230A and 230B rotate or move in a direction opposite to the direction in which the user is guided to apply force by the guiding information, an appropriate impedance or load will be formed on the leg part. And because the leg massage parts 230A and 230B rotate or move in a direction opposite to the applied force, the impedance to the rotation or movement can be naturally generated on the leg part, and the appropriate tension of the muscle can be strengthened or maintained, so that the effect of leg stretching can be further improved.

[0568] When the leg massage parts 230A and 230B rotate or move while the user does not actually apply force in a specific direction or applies a force less than the reference magnitude in a specific direction, the user's leg part will move passively and even dependently due to the rotation or movement of the leg massage parts 230A and 230B, resulting in a decrease or failure to exert the above-mentioned leg stretching effect.

[0569] Therefore, preferably, only when the control unit 270 of the present invention senses a moving force in a specific direction (step S610) by using the sensing signals received from the sensing sensors 231A and 231B that sense the force applied to the leg part, or when the force in a specific direction is above the reference value (step S630), will the control unit 270 control the first leg driving part 240A and / or the second leg driving part 240B to implement the leg stretching mode (step S620).

[0570] In addition, in order to organically combine the impedance intensity of the leg part muscles, etc. with the leg stretching mode, when a strong force above a specific value is sensed or the user selects a high-intensity leg stretching mode, etc., the control unit 270 of the present invention can control the leg driving parts 240A and 240B so that the speed at which the leg massage parts 230A and 230B rotate or move in a direction opposite to the specific direction is linked to the sensing signal (step S625).

[0571] After the start of the leg stretching mode, that is, in a state where the leg massage units 230A and 230B are rotating or moving, when the magnitude of the sensing signals received from the sensing sensors 231A and 231B is below a first reference value (step S630), the control unit 270 of the present invention can control the rotation or movement of the leg massage units 230A and 230B to stop (step S650) in order to accurately reflect the temporal trend of the user's moving force changing over time.

[0572] In this case, a step of additionally guiding a stronger external force or outputting guiding information for encouragement (step S640) can be added to improve the substantial effect of leg stretching and enable the leg stretching to be continuously maintained. When the sensing signal (i.e., the magnitude of the moving force) is still less than the first reference value after outputting the guiding information for such a purpose, the control unit 270 of the present invention can control the rotation or movement of the leg massage units 230A and 230B to stop (step S650).

[0573] When the magnitude of the moving force is less than the first reference value and the leg stretching mode is still ongoing, there is a risk of injury or a safety accident, etc. Therefore, as described above, it is preferable to stop the rotation or movement of the leg massage units 230A and 230B when the magnitude of the moving force is less than the first reference value.

[0574] As the start or end time point of the above-mentioned leg stretching mode, the magnitude (the magnitude of the sensing signal) of the moving force sensed by the sensing sensors 231A and 231B at each time (temporally) during the implementation of the leg stretching mode, the energy consumption amount due to the driving of the leg stretching mode, etc., the historical information of the mutually related information can be stored in the storage unit 1300 of the present invention to be used as the raw data of the stretching history.

[0575] The information on the energy consumption amount can be calculated by a function, etc. using the magnitude of the external force, the time for which the external force acts, and the user's weight information, etc. According to the embodiment, information such as the calorie consumption information can also be included in the historical information.

[0576] According to the embodiment, the historical information can be configured to be output to the interface unit 280, etc. through a graphical user interface (GUI) environment or sent to a user terminal, etc.

[0577] It goes without saying that the above-mentioned processing of the leg stretching mode can also be applied cyclically (step S660).

[0578] According to an embodiment, as described above, during the control in such a manner that the swinging motion is achieved in a direction opposite to the specific direction guided in the guiding information, the control unit 270 of the present invention may control one or more of the first and second horizontal driving units 240AH and 240BH to achieve a stop action (hereinafter referred to as "support mode") for a rotation or movement stop reference time of one or more of the first and second leg massaging units 230A and 230B one or more times.

[0579] The time period at which the support mode starts (e.g., at 15-second intervals), the duration for which the support mode continues (e.g., for 3 seconds), the number of times information for the repetition of the support mode (e.g., 3 times), etc. may be variably set according to user information, etc., or may be adjusted by the user through the user input unit 1400 or the like.

[0580] In the case of the implementation configuration of the present invention according to this, it is possible to distinguish the degree of muscle tension in the leg part in a time-sequential manner and to guide the change in the external force applied by the user, so that not only can leg movements and stretching be achieved three-dimensionally, but also an isometric exercise in which a force is provided to persist at the characteristic position of muscle contraction, such as a plank exercise, can be achieved.

[0581] Fig.33 It is a diagram for explaining the processing procedure formed by the third mode according to an embodiment of the present invention.

[0582] Fig.33 In the embodiment of the present invention shown, in a state where the first leg massaging unit 230A and the second leg massaging unit 230B are away from each other, that is, in a state where the leg massaging units 230A and 230B are opened outward, etc., by rotating or moving the first leg massaging unit 230A and the second leg massaging unit 230B in different directions with respect to the vertical direction, an action or movement corresponding to the actual action characteristics of the human body structure (legs) according to an action such as cycling (riding a bicycle), etc., and an action or mode (hereinafter referred to as "third mode") are implemented.

[0583] The control unit 270 of the present invention controls the first leg massaging unit 230A and the second leg massaging unit 230B to rotate outward with respect to the horizontal direction by controlling the first horizontal driving unit 240AH and the second horizontal driving unit 240BH (step S700).

[0584] After that, the control unit 270 of the present invention controls one of the first leg massaging unit 230A and the second leg massaging unit 230B to rotate (move, etc.) in a third direction and controls the other to rotate (move, etc.) in a fourth direction by controlling the first vertical driving unit 240AV of the first leg driving unit 240A and the second vertical driving unit 240BV of the second leg driving unit 240B (step S710).

[0585] Wherein, the third direction is one of the upward direction or the downward direction based on the vertical direction, and the fourth direction refers to the other direction of the upward direction or the downward direction that is not the third direction.

[0586] For example, in a state where the first leg massage unit 230A and the second leg massage unit 230B are opened outward, the control unit 270 of the present invention controls the first leg massage unit 230A to rotate upward and controls the second leg massage unit 230B to rotate downward.

[0587] Similar to the embodiment described above, in order to ensure sufficient space and prevent safety accidents, etc., the control unit 270 of the present invention can control the body driving unit 220 so that the tilting action of the body massage unit backward by a preset reference angle precedes step S700 or step S710.

[0588] The control unit 270 of the present invention controls the length of the leg massage unit that rotates upward among the first leg massage unit 230A and the second leg massage unit 230B to increase by controlling one or more of the first length adjustment unit 240AL and the second length adjustment unit 240BL, and controls the length of the leg massage unit that rotates downward to decrease (step S720, step S730A, step S730B).

[0589] Through the control of the control unit 270 as described above, the length of the leg that rises upward is shortened, and the length of the leg that descends downward is increased. Therefore, a movement action corresponding to the actual leg movement characteristics achieved during cycling can be guided.

[0590] In order to further improve the effects of movement and stretching according to the cycling mode (the third mode), among the first leg airbag 232A and the second leg airbag 232B, it is possible to control the leg airbags provided in the leg massage units 230A and 230B with reduced length to contract (step S740A), and it is possible to control the leg airbags provided in the leg massage units 230A and 230B with increased length to expand (step S740B).

[0591] With this configuration, the legs of the leg massage units 230A and 230B that rotate downward (move, etc.) and / or the leg massage units 230A and 230B with increased length accommodated in the leg massage units 230A and 230B are firmly supported by the leg airbags 232A and 232B while descending downward or receiving an external force for length extension. Therefore, the effects of movement and stretching can be improved.

[0592] In addition, due to the differential control of the inflation and deflation of the leg airbags 232A and 232B, the legs of the leg massage units 230A and 230B that rotate upward (move, etc.) and / or the leg massage units 230A and 230B with reduced length accommodated in the leg massage units 230A and 230B are released from the firm support provided by the leg airbags 232A and 232B. Therefore, during the process of lifting the legs, muscle relaxation or tension relief can be more effectively induced.

[0593] As described above, when one round of the third mode is completed (step S750), the control unit 270 of the present invention controls the conversion between the third direction and the fourth direction to alternate the rotation directions of the first leg massage unit 230A and the second leg massage unit 230B (step S760) so as to correspond to the movement of both legs achieved during cycling.

[0594] The above-described embodiment of the cycling mode is implemented in a state where the legs are spread apart. Therefore, compared with actual cycling, more muscles can be stimulated more deeply, thereby further improving the exercise effect or stretching effect of cycling, etc.

[0595] According to the embodiment, by realizing the alternating rotation of the first leg massage unit 230A and the second leg massage unit 230B based on the up-and-down direction as described above, the control unit 270 of the present invention can drive the outward rotation movement or the inward rotation movement together by controlling one or more of the first horizontal drive unit 240AH of the first leg drive unit 240A and the second horizontal drive unit 240BH of the second leg drive unit 240B.

[0596] In the case of the implementation configuration of the present invention as described above, since in the state where the legs are spread apart and the state where the legs are gathered together, during the dynamic process of gradually gathering the legs or gradually spreading the legs, it is also guided in a manner that continuously performs cycling actions. Therefore, a more three-dimensional cycling mode can be realized.

[0597] Although the present invention has been described above with reference to limited embodiments and drawings, the present invention is not limited thereto. It is natural that those of ordinary skill in the technical field to which the present invention pertains can make various modifications and deformations within the technical idea of the present invention and the scope of the claims to be described.

[0598] In the above description of the present invention, modifiers such as first and second are merely terms of instrumental concepts used for relatively distinguishing constituent elements from each other, and thus should not be construed as terms used to indicate a specific order, priority, etc.

[0599] The drawings for explaining the present invention and 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. However, considering the above content and the matters shown in the drawings, it is natural that various forms of deformation applications can be carried out at the level of those skilled in the art.

[0600] The control method of the massage device 100 according to the present invention described above can be implemented as computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all kinds of recording devices (compact disc read-only memory, 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.

[0601] In addition, the structure and functions of the massage device in this specification can be extended and applied to various (wearable) health care devices that can provide health care functions (for example, massage function, biological signal measurement function, etc.). Therefore, the "massage device" in this specification can be replaced with "(wearable) health care device" for description.

Claims

1. A massage device, characterized in that: include: a body massaging portion for massaging at least a portion of a user's body, The first leg massage part and the second leg massage part are arranged at the lower part of the body massage part. A first horizontal driving part causes the first leg massage part to rotate or move in a horizontal direction, The second horizontal driving part rotates or moves the second leg massage part in the horizontal direction. The control unit controls one or more of the first horizontal driving unit and the second horizontal driving unit to realize a swinging motion, wherein the swinging motion is a motion in which one or more of the first leg massage unit and the second leg massage unit rotates or moves in a horizontal direction.

2. The massage device according to claim 1, characterized in that: The control unit controls the first leg massage unit and the second leg massage unit to rotate or move in alternate directions so that the first leg massage unit and the second leg massage unit move away from each other and move toward each other based on the horizontal direction.

3. The massage device according to claim 1, characterized in that: The control unit controls so that when only one of the first leg massage unit and the second leg massage unit performs the swinging motion, the position of the other leg massage unit is fixed.

4. The massage device according to claim 1, characterized in that: Also includes: a first vertical driving part for rotating or moving the first leg massage part in the up-down direction, and a second vertical driving part, causing the second leg massage part to rotate or move in the up-down direction; The control unit controls one or more of the first horizontal driving unit, the first vertical driving unit, the second horizontal driving unit, and the second vertical driving unit to rotate or move one or more of the first leg massaging unit and the second leg massaging unit in a three-dimensional space direction.

5. The massage device according to claim 4, characterized in that: The control unit controls the first leg massage unit or the second leg massage unit to rotate or move the first leg massage unit outward in a horizontal direction in conjunction with the upward rotation or movement, or to rotate or move the first leg massage unit or the second leg massage unit inward in a horizontal direction in conjunction with the downward rotation or movement.

6. The massage device according to claim 1, characterized in that: Also includes: a sensing sensor that senses a moving force applied by a leg portion of the user accommodated in one or more of the first leg massaging portion and the second leg massaging portion; The control unit controls so that the swing motion is performed in a direction corresponding to the direction in which the moving force acts.

7. The massage device according to claim 6, characterized in that: The control unit performs control so as to perform the swing motion only when the moving force is equal to or greater than a first reference value.

8. The massage device according to claim 6, characterized in that: The control unit determines a rotation or movement speed of at least one of the first leg massaging unit and the second leg massaging unit based on the magnitude of the moving force.

9. The massage device according to claim 1, characterized in that: Also includes: a first length adjustment part for adjusting the length of the first leg massage part, and a second length adjustment part, for adjusting the length of the second leg massage part; The control unit controls to rotate or move the first leg massage unit or the second leg massage unit in a horizontal direction outwardly in conjunction with the extension of the length of the first leg massage unit or the second leg massage unit, or to rotate or move the first leg massage unit or the second leg massage unit in a horizontal direction inwardly in conjunction with the reduction of the length of the first leg massage unit or the second leg massage unit.

10. The massage device according to claim 1, characterized in that: The range in which one or more of the first leg massage part and the second leg massage part rotate or move in the horizontal direction can be changed by one or more of the user information, the user body information and the user selection information.

11. The massage device according to claim 2, characterized in that: The control unit generates count information using information on the number of times the rotation or movement directions of the first leg massaging unit and the second leg massaging unit are alternated.

12. The massage device according to claim 1, characterized in that: The control unit controls so as to output guidance information for guiding application of a force in a specific direction and to cause the swinging motion to be performed in a direction opposite to the specific direction.

13. The massage device according to claim 12, characterized in that: The control unit controls one or more of the first horizontal driving unit and the second horizontal driving unit so that during the process of forming the swinging action, the rotation or movement of one or more of the first leg massage unit and the second leg massage unit stops for a reference time more than once.

14. The massage device according to claim 1, characterized in that: Also includes: A body driving part, which changes the position or posture of the body massaging part; The control unit controls the body driving unit so that the body massaging unit tilts backward before the swinging motion.

15. The massage device according to claim 1, characterized in that: The massage apparatus further comprises one or more leg airbags of a first leg airbag and a second leg airbag, wherein the first leg airbag is arranged at the first leg massage part, and the second leg airbag is arranged at the second leg massage part; The control unit controls so that expansion or contraction of at least one of the first leg airbag and the second leg airbag is linked with the swinging motion.

16. The massage device according to claim 15, characterized in that: The control unit controls the first leg massage unit or the second leg massage unit to rotate or move horizontally outwardly in conjunction with the expansion of the first leg airbag or the second leg airbag, or to rotate or move horizontally inwardly in conjunction with the contraction of the first leg airbag or the second leg airbag.

17. The massage device according to claim 1, characterized in that: Also includes: The first vertical driving part rotates or moves the first leg massage part in the up-down direction. The second vertical driving part rotates or moves the second leg massage part in the up-down direction. a first length adjustment part for adjusting the length of the first leg massage part, and a second length adjustment part, for adjusting the length of the second leg massage part; The control unit controls the first leg massage unit and the second leg massage unit to rotate or move alternately in different up and down directions while the first leg massage unit and the second leg massage unit are rotated or moved outward, and controls the length of the leg massage unit that rotates or moves upward to decrease and the length of the leg massage unit that rotates or moves downward to increase.

18. The massage device according to claim 1, characterized in that: Also includes: An air bag is arranged at a position corresponding to the waist or pelvic area of ​​the user; The control part controls so that when the first leg massaging part and the second leg massaging part rotate or move in the same direction, the airbag expands to physically support the user's body.

19. A method for controlling a massage device, the massage device comprising a first leg massage part and a second leg massage part arranged below a body massage part, a first horizontal driving part for rotating or moving the first leg massage part in a horizontal direction, and a second horizontal driving part for rotating or moving the second leg massage part in a horizontal direction, characterized in that: include: A control step is to control one or more of the first horizontal driving unit and the second horizontal driving unit to achieve a swinging motion, wherein the swinging motion is a motion in which one or more of the first leg massage unit and the second leg massage unit rotates or moves in a horizontal direction.

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