Massage device

Abstract

The present specification discloses a massage device. A massage device according to the present specification may include a first arm massage unit disposed on one side of a body massage unit and movable forward and backward, a second arm massage unit disposed on the other side of the body massage unit and movable forward and backward, and a control unit configured to control the first arm massage unit and the second arm massage unit. The controller is used for controlling the actions of the body massage part, the first arm massage part and the second arm massage part; the control portion may calculate a deviation between moving speeds of the first arm massage portion and the second arm massage portion, and control a moving speed of at least one of the first arm massage portion and the second arm massage portion such that the deviation has a value within a preset deviation range.

Description

Technical Field

[0001] The present invention relates to a method for aligning and moving an arm massage unit and a massage device for performing the method, and more particularly, to a method for aligning and moving an independently movable arm massage unit and a massage device for performing the method. Background Art

[0002] The content described in this part simply provides background information on the embodiments described in this specification and does not necessarily constitute prior art.

[0003] 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.

[0004] Due to economic circumstances and time reasons, there has been an increasing demand for massage devices or massage equipment for providing artificial massage functions. That is, as the demand for relieving stiff muscles and eliminating fatigue or stress through massage increases, various massage devices with good time and cost effectiveness have been introduced.

[0005] Recently, people's attention to health has been increasing, and massage devices have evolved from simply providing massage functions to electronic devices that provide various additional functions and / or medical functions.

[0006] In addition, massage devices have evolved into devices that can assist in stretching exercises for muscles, ligaments, etc. of body parts.

[0007] Existing patent document: Korean Patent Publication No. 10-1400466 (May 21, 2014) Summary of the Invention

[0008] Problems to be Solved by the Invention

[0009] The purpose of this specification is to provide a massage device including an alignment algorithm for an independently movable arm massage unit and its operation method.

[0010] This specification is not limited to the problems mentioned above, and those of ordinary skill in the art can clearly understand other problems not mentioned from the following description.

[0011] Means for Solving the Problems

[0012] The massage device according to the present specification for solving the above problems may include: a first arm massage unit disposed on one side of the body massage unit and capable of moving back and forth; a second arm massage unit disposed on the other side of the body massage unit and capable of moving back and forth; and a control unit for controlling the operations of the body massage unit, the first arm massage unit, and the second arm massage unit; the control unit calculates the deviation between the moving speeds of the first arm massage unit and the second arm massage unit, and controls the moving speed of at least one of the first arm massage unit and the second arm massage unit so that the deviation has a value within a preset deviation range.

[0013] The control unit calculates a first deviation and a second deviation. The first deviation is the deviation between the moving speeds of the first arm massage unit and the second arm massage unit moving in a first direction from one end to the other end, and the second deviation is the deviation between the moving speeds moving in a second direction from the other end to one end; the control unit uses the first deviation and the second deviation to control the moving speeds of the arm massage units in each direction.

[0014] The control unit calculates the moving speeds of the first arm massage unit and the second arm massage unit from a preset start time point to a preset end time point.

[0015] The control unit calculates the moving speeds of the first arm massage unit and the second arm massage unit moving within a preset moving interval.

[0016] The control unit extracts the moving distances of the first arm massage unit and the second arm massage unit at preset time intervals and calculates the moving speeds.

[0017] It further includes a memory for storing information related to the first deviation and the second deviation;

[0018] The control unit stores the first deviation as a first correction value regarding the moving speeds of the first arm massage unit and the second arm massage unit when moving in the first direction in the memory; the control unit stores the second deviation as a second correction value regarding the moving speeds of the first arm massage unit and the second arm massage unit when moving in the second direction in the memory; the control unit controls the moving speed of at least one of the arm massage units by loading at least one of the first correction value and the second correction value stored in the memory.

[0019] When the first arm massage part and the second arm massage part move in the first direction, the control part controls the arm massage part with a relatively faster moving speed among the first arm massage part and the second arm massage part to move slowly by the same degree as the first correction value; when the first arm massage part and the second arm massage part move in the second direction, the control part controls the arm massage part with a relatively faster moving speed among the first arm massage part and the second arm massage part to move slowly by the same degree as the second correction value.

[0020] When the first arm massage part and the second arm massage part move in the first direction, the control part controls the arm massage part with a relatively slower moving speed among the first arm massage part and the second arm massage part to move fast by the same degree as the first correction value; when the first arm massage part and the second arm massage part move in the second direction, the control part controls the arm massage part with a relatively slower moving speed among the first arm massage part and the second arm massage part to move fast by the same degree as the second correction value.

[0021] When the first arm massage part and the second arm massage part move in the first direction, the control part controls the arm massage part with a relatively slower moving speed among the first arm massage part and the second arm massage part to move fast by the same degree as a part of the first correction value, and controls the arm massage part with a relatively faster moving speed to move slowly by the same degree as the remaining part of the first correction value; when the first arm massage part and the second arm massage part move in the second direction, the control part controls the arm massage part with a relatively slower moving speed among the first arm massage part and the second arm massage part to move slowly by the same degree as a part of the second correction value, and controls the arm massage part with a relatively faster moving speed to move slowly by the same degree as the remaining part of the second correction value.

[0022] When the first deviation exceeds a preset reference value, the control part stores the first deviation as the first correction value in the memory; when the second deviation exceeds the preset reference value, the control part stores the second deviation as the second correction value in the memory.

[0023] When controlling the moving speed of the at least one arm massage part so that the deviation has a value within a preset deviation range, the control part sets the moving speeds of the controlled first arm massage part and second arm massage part as the basic moving speed.

[0024] When controlling the movement of the first arm massage unit and the second arm massage unit during the operation according to any massage mode, the control unit controls the first arm massage unit and the second arm massage unit to move at the basic movement speed; the control unit controls the first arm massage unit and the second arm massage unit to have values within a preset movement speed range.

[0025] When the first arm massage unit and the second arm massage unit move at the basic movement speed; the control unit calculates the partial movement speeds of the first arm massage unit and the second arm massage unit according to a preset speed calculation interval, and controls the partial movement speeds to have values within a preset speed range.

[0026] When the partial movement speed of each arm massage unit exceeds the maximum value of the speed range, the control unit controls it to move relatively slowly; when the partial movement speed of each arm massage unit is less than the minimum value of the speed range, the control unit controls it to move relatively quickly.

[0027] Including: an arm massage unit actuator that moves the arm massage unit through the driving action of a motor; and an encoder that senses the rotation of the motor;

[0028] The control unit calculates the deviation using the rotation information of the motor sensed by the encoder, and controls the movement speed of the arm massage unit by controlling the rotation speed of the motor.

[0029] Other specific matters of the present invention are included in the detailed description and the drawings.

[0030] Effects of the Invention

[0031] According to one aspect of this specification, in the production process of the massage device, the control unit can be corrected so that the movement speeds of the arm massage units arranged on both sides of the body massage unit have values within a preset deviation range.

[0032] According to another aspect of this specification, when the user receives a massage and / or stretching mode from the massage device, the control unit can be controlled so that the movement speeds of the arm massage units arranged on both sides of the body massage unit remain within a preset speed range.

[0033] The effects of the present invention are not limited to the above-mentioned effects, and those of ordinary skill in the art can clearly understand other effects not mentioned from the following description. Description of the Drawings

[0034] Figure 1 It is a diagram of a massage device for illustrating an embodiment of this specification.

[0035] Figure 2It is a block diagram of a massage device according to an embodiment of this specification.

[0036] Figure 3 It is a diagram showing a disassembled view of a part of a massage device according to an embodiment of this specification.

[0037] Figure 4 It is a diagram for explaining the main frame according to an embodiment of this specification.

[0038] Figure 5 It is a diagram showing the connection relationship of actuators for adjusting the seat angle, back angle, and leg angle in a massage device according to an embodiment of this specification.

[0039] Figure 6 It is a diagram showing an example of a posture change of the massage device according to this specification.

[0040] Figure 7 It is a diagram showing the structure and operation of the independent movement of the arm massage unit of a massage device according to an embodiment of this specification.

[0041] Figure 8 It is a diagram showing the inner surface of the arm massage providing unit of a massage device according to an embodiment of this specification.

[0042] Figure 9 It is Figure 7 A partial exploded perspective view of the arm massage unit shown.

[0043] Figure 10 It is a component diagram of the arm massage unit drive module of a massage device according to an embodiment of this specification.

[0044] Figure 11 It is a diagram for explaining the sensor unit of the arm massage unit of a massage device according to an embodiment of this specification.

[0045] Figure 12 It is a diagram for explaining the joint part between the arm massage unit and the body massage unit in the massage device according to this specification.

[0046] Figure 13 It is for explaining Figure 12 A diagram showing the joint structure and assembly method of the joint part shown.

[0047] Figure 14 It is a flowchart of the arm massage unit alignment movement algorithm according to an embodiment of this specification.

[0048] Figure 15 It is a flowchart of the basic movement speed setting according to an embodiment of this specification.

[0049] Figure 16 It is a diagram showing the process of calculating the first deviation according to an embodiment of this specification.

[0050] Figure 17 It is a diagram showing the process of calculating the first deviation in another embodiment of this specification.

[0051] Figure 18 It is a diagram showing the process of calculating the first deviation in yet another embodiment of this specification.

[0052] Figure 19 It is a diagram showing an example of counting the rotation value of the actuator motor of the arm massage unit when the first arm massage unit and the second arm massage unit move in the first direction.

[0053] Figure 20 It is a diagram showing the process of calculating the second deviation in an embodiment of this specification.

[0054] Figure 21 It is a diagram showing the process of calculating the second deviation in another embodiment of this specification.

[0055] Figure 22 It is a diagram showing the process of calculating the second deviation in yet another embodiment of this specification.

[0056] Figure 23 It is a diagram showing an example of counting the rotation value of the actuator motor of the arm massage unit when the first arm massage unit and the second arm massage unit move in the second direction.

[0057] Figure 24 It is a flowchart of the basic movement speed setting in another embodiment of this specification.

[0058] Figure 25 It is a flowchart of the partial movement speed control in an embodiment of this specification.

[0059] Explanation of reference numerals

[0060] 100: Massage device 300: Control unit

[0061] 1000: Body massage unit 1000a: Back

[0062] 1000b: Seat unit 1001a: First shoulder airbag

[0063] 1001b: Second shoulder airbag 1100: Main frame

[0064] 1200: Body frame 1210: Back frame

[0065] 1250: Seat frame 1300: Base frame

[0066] 1302: Coupling frame 1320: Support shaft frame

[0067] 1303: First fastening opening 1304: Second fastening opening

[0068] 1310: First insertion bracket 1311: First engaging groove

[0069] 1322: Rear surface fastening hole 1315: Fastening member

[0070] 1315a: Fastening portion 1315b: Diameter-expanded portion

[0071] 1315c: Head 1610: Slide actuator

[0072] 1620: Seat angle actuator 1630: Backrest angle actuator

[0073] 1640: Leg angle actuator 2000: Leg massage portion

[0074] 2000a: First leg massage portion

[0075] 2000b: Second leg massage portion

[0076] 3000: Arm massage portion 3000a: First arm massage portion

[0077] 3000b: Second arm massage portion 3100: Arm massage providing portion

[0078] 3110: Arm accommodating portion 3112a: First arm airbag

[0079] 3112b: Second arm airbag 3107: Lower surface of arm massage portion

[0080] 3107a: First through hole 3105: Second bracket

[0081] 3106: Rear surface of arm massage portion

[0082] 3108: Front surface of arm massage portion

[0083] 3200: Support portion 3203: Inner surface of support portion

[0084] 3205: Engaging protrusion 3205a: Concave portion

[0085] 3206: Second insertion bracket 3206a: Second engaging groove

[0086] 3210: Upper surface of support portion 3212: Second through hole

[0087] 3300: Arm massage portion drive module 3310: Support plate

[0088] 3311: Lower part 3312: Upper part

[0089] 3315: First bracket 3320: Arm massage part actuator

[0090] 3323: Rod 3330: Guide rail

[0091] 3340: Guide block 3401: First sensor

[0092] 3402: Second sensor 3403: Third sensor

[0093] P1, P2: Front side joint part

[0094] P3: Middle joint part P4: Rear side joint part Detailed implementation mode

[0095] Hereinafter, with reference to the accompanying drawings, the embodiments of this specification will be described in more detail.

[0096] The above object, features, and advantages of this specification are made clearer through the following embodiments related to the accompanying drawings. The following specific structures and various functional descriptions are only shown for the embodiments based on the concept of the present disclosure. The embodiments based on the concept of the present disclosure can be implemented in various ways and should not be construed as limited to the embodiments described in this specification or the application.

[0097] For the embodiments based on the concept of this specification, various changes can be made and various forms can be adopted. Therefore, specific embodiments are shown in the accompanying drawings and described in detail in this specification or the application. However, this does not limit the embodiments based on the concept of the present disclosure to a specific disclosure form, but should be understood to include all changes, equivalents, and substitutes included in the idea and technical scope of the present disclosure.

[0098] Although terms such as first and / or second can be used to describe various components, the components are not limited to these terms. These terms are only used to distinguish one component from another. For example, without departing from the protection scope of the concept of the present disclosure, the first component can be named the second component, and similarly, the second component can also be named the first component.

[0099] When it comes to a certain component being "connected" or "combined" with another component, it should be understood that it can be directly connected or combined with the other component, and there may also be other components between them. On the contrary, when it comes to a certain component being "directly connected" or "directly combined" with another component, it should be understood that there are no other components between them. Other expressions used to illustrate the relationship between components, namely, expressions such as "located between~" and "in terms of~between" or "adjacent to~" and "directly adjacent to~", should also be interpreted in the same way.

[0100] The terms used in this specification are only used to illustrate specific embodiments and are not used to limit the content of the present disclosure. Unless otherwise clearly specified in the context, singular expressions include plural expressions. Terms such as "including" or "having" in this specification are used to specify the existence of the illustrated features, numbers, steps, actions, components, parts, or combinations thereof, and do not preclude the existence or additional possibility of one or more other features, numbers, steps, actions, components, parts, or combinations thereof in advance.

[0101] Unless otherwise defined, all terms used herein, including technical terms or scientific terms, have the same meaning as commonly understood by those of ordinary skill in the art of this technology. 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.

[0102] 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.

[0103] In this specification, according to one embodiment, the massage device may refer to a massage device including a body massage part and a leg massage part. Additionally, according to another embodiment, the body massage part and the leg massage part may exist as separate and independent devices (for example, a body massage device and a leg massage device), and the massage device may refer to a body massage device or a leg massage device.

[0104] When each part of the massage device according to the embodiment of this specification is described, the direction is defined based on the vision of the user sitting on the massage device. For example, the leg massage part is located in front of the body massage part.

[0105] Figure 1 It is a diagram for illustrating a massage device according to an embodiment of this specification.

[0106] The massage device 100 according to an embodiment of the present specification includes at least a part or all of the following: a body massage unit 1000 that forms a region for accommodating at least a part of a user's body and massages the user's body; a leg massage unit 2000 for massaging the user's legs; and an arm massage unit 3000 for massaging the user's arms.

[0107] The body massage unit 1000 can provide massage to at least a part of the user's body. To this end, the body massage unit 1000 may include a main frame 1100 that constitutes the skeleton of the body massage unit 1000 and a massage module 1700 that provides a massage function to at least a part of the user's body. In addition, the body massage unit 1000 may include an audio output module 1500 that provides audio output in any form to the user, and an input unit 350 for receiving input in any form from the user.

[0108] Each structure of the body massage unit 1000 described above is only an exemplary embodiment, and the body massage unit 1000 may include various structures in addition to the structures described above.

[0109] In addition, as Figure 1 shown, the shape and structure of the massage device 100 are only examples, and various forms of massage devices 100 should also be within the scope of this specification without departing from the scope of rights defined by the claims of this specification.

[0110] The body massage unit 1000 may form a space in any form for accommodating the user. The body massage unit 1000 may have a space in a form corresponding to the shape of the user's body. For example, as ​ shown, the body massage unit 1000 can be implemented in a seating type that can accommodate the whole body or a part of the user's body. The body massage unit 1000 includes a back 1000a that accommodates the upper body including the user's back and a seat unit 1000b that supports the user's buttocks.

[0111] The part of the body massage unit 1000 that contacts the ground may include any material or any member for increasing friction (for example, an anti-slip mat, etc.), and may include wheels for enhancing the mobility of the massage device 100.

[0112] At least a part of the body massage unit 1000 can slide. For example, when the body massage unit 1000 starts massaging, at least a part of the body massage unit 1000 can slide 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.

[0113] According to an embodiment of the present invention, the massage device 100 may include at least one airbag. The airbag may be located at the user's shoulder, pelvis, leg massage part 2000, arm massage part 3000, etc., but is not limited thereto and may be configured at multiple locations of the massage device 100.

[0114] The massage device 100 may include an air supply unit that supplies air to the airbags to inflate them. The air supply unit may be located inside the body massage part 1000 or the leg massage part 2000. Alternatively, the air supply unit may be located outside the massage device 100.

[0115] The arm massage sections 3000, located on either side of the body massage section 1000, are provided with arm-receiving slots 3110 in the form of a "匚" (Chinese character) shape, allowing the user to comfortably place their arms and receive a massage while sitting. Airbags may be provided on the upper and lower sides of the arm-receiving slots to massage the user's arms by applying downward and / or upward pressure.

[0116] The arm massage part 3000 may include a support part 3200 disposed at a lower side and an arm massage providing part 3100 disposed at an upper side of the support part 3200 .

[0117] The leg massage part 2000 can provide leg massage to the user.For example, the leg massage part 2000 may include a calf massage part for massaging the user's calves and / or a foot massage part for massaging the user's feet.

[0118] The length of the leg massage section 2000 can be adjusted based on the user's physical characteristics. For example, when a tall user uses the massage device 100, the length of the leg massage section 2000 may need to be lengthened due to the user's longer calves. Conversely, when a shorter user uses the massage device 100, the length of the leg massage section 2000 may need to be shortened due to the user's shorter calves. Therefore, the leg massage section 2000 can provide a leg massage tailored to the user's height.

[0119] According to an embodiment of the present invention, the leg massage part 2000 may include a first leg massage part 2000a and a second leg massage part 2000b that are physically separated. For example, the first leg massage part 2000a on one side may correspond to the user's right leg, and the second leg massage part 2000b on the other side may correspond to the user's left leg.

[0120] The first leg massage unit 2000a and the second leg massage unit 2000b respectively include a calf massage unit and a foot massage unit. Therefore, the first leg massage unit 2000a and the second leg massage unit 2000b can separately adjust the length of the leg massage unit and can provide foot massage. For this purpose, the first leg massage unit 2000a and the second leg massage unit 2000b are respectively provided with a leg length actuator and a foot massage module.

[0121] The first leg massage unit 2000a and the second leg massage unit 2000b can independently adjust the leg angle and move. The first leg massage unit 2000a is adjusted by a second leg angle actuator, and the second leg massage unit 2000b is adjusted by a second leg angle actuator. Therefore, for example, while the first leg massage unit 2000a is lifted, the second leg massage unit 2000b can remain in contact with the ground. In addition, when the leg lengths of the first leg massage unit 2000a and the second leg massage unit 2000b are adjusted and / or the leg angles are adjusted differently from each other, an action such as a walking mode can be achieved.

[0122] Hereinafter, the leg massage unit 2000 can be a term referring to the first leg massage unit 2000a and the second leg massage unit 2000b or the leg massage units on both sides, and can be a term referring to the integrated leg massage unit 2000 in which the first leg massage unit 2000a and the second leg massage unit 2000b are connected as one body. Unless it is necessary to distinguish the first leg massage unit 2000a and the second leg massage unit 2000b from each other, it is referred to as the leg massage unit 2000.

[0123] The massage module 1700 can 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. The massage module 1700 can move along the main frame 1100 provided inside the body massage unit 1000.

[0124] For example, the main frame 1100 of the body massage unit 1000 can be provided with a rack gear, and the massage module 1700 provides mechanical stimulation to various parts of the user's body while moving along the rack gear. The massage module 1700 can include a ball massage unit or a roller massage unit, but is not limited thereto.

[0125] The main frame 1100 is a frame for forming the internal structure of the body massage unit 1000 and can be implemented by a metal material, a plastic material, or the like. For example, the main frame 1100 can be implemented by iron, alloy, steel, etc., but is not limited thereto, and can also be implemented by various strong materials.

[0126] According to an embodiment of the present specification, the audio output module 1500 of the massage device 100 may be disposed at various positions. For example, the audio output module 1500 may include a plurality of output units, such as an upper audio output unit disposed at the upper end of the seat portion in contact with the user, a front audio output unit attached to the front end of the left and right side arm massage portions 3000 of the seat portion, and / or a rear audio output unit attached to the rear end of the arm massage portion, etc., but not limited thereto. In this case, the audio output module 1500 can provide stereo such as 5.1 channels, but not limited thereto.

[0127] According to an embodiment of the present specification, the user can control the massage device 100 by using the massage device control device 4000. The massage device control device 4000 can be connected to the massage device 100 through wired communication and / or wireless communication.

[0128] The massage device control device 4000 may include a remote controller, a cellular phone, a personal digital assistant (PDA), etc., but not limited thereto, and may include various electronic devices that can be connected to the massage device 100 through wired communication or wireless communication.

[0129] ​ It is a block diagram of a massage device according to an embodiment of the present specification.

[0130] The massage device 100 may include at least one of a control unit 300, a sensor unit 310, a communication unit 320, a memory 330, an audio output unit 340, and an input unit 350.

[0131] The control unit 300 may include at least one processor and a memory. When the control unit 300 includes a plurality of processors, at least a part of the plurality of processors may be located at physically separated positions. In addition, not limited thereto, the massage device 100 can be implemented in various ways.

[0132] According to an embodiment of the present specification, the control unit 300 can control the operation of the massage device 100. For example, the control unit 300 can control the operation of the massage device 100 by controlling the operation of a plurality of actuators of the massage device 100.

[0133] For example, the control unit 300 can move the massage module of the massage module 1700 by controlling the action of the massage module moving actuator, and the massage module 1700 can move along the rack. The massage module 1700 may include at least one actuator, and the control unit 300 can provide various massage actions by actuating at least one actuator. For example, the control unit 300 can provide tapping massage, kneading massage, etc. by actuating at least one actuator in the massage module 1700. Without limitation, various massage actions can be provided.

[0134] In addition, for example, foot massage can be provided to the user by controlling the foot massage actuator that actuates the foot massage module in the leg massage unit 2000.

[0135] In addition, the length of the leg massage unit 2000 can be adjusted by actuating the leg length adjustment actuator to match the user, and as a result, the user can enjoy a massage that matches their body type.

[0136] The memory 330 can be provided in the control unit 300 or outside the control unit 300. The memory 330 can store various information related to the massage device 100. For example, the memory 330 may include massage control information and may include personal authentication information, but is not limited thereto.

[0137] The memory 330 can be implemented by a non-volatile storage medium that can continuously store arbitrary data. For example, the memory 330 can 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.

[0138] The memory 330 can be a main storage device directly accessible by the processor, such as a random access memory (RAM) such as a dynamic random access memory (DRAM) or a static random access memory (SRAM), which is a volatile storage device that instantly deletes the stored information when the power is turned off, but is not limited thereto. Such a memory 330 can operate through the control unit 300.

[0139] The massage device 100 may include a sensor unit 310. The sensor unit 310 can obtain various information by using at least one sensor. The sensor unit 310 can be set to use sensors such as pressure, electric potential, and optical measurement units. For example, the sensors can include pressure sensors, infrared sensors, LED sensors, touch sensors, etc., but are not limited thereto.

[0140] In addition, the sensor unit 310 may include a bio-information acquisition sensor. The bio-information acquisition sensor may acquire fingerprint information, facial information, voice information, iris information, weight information, electrocardiogram information, body composition information, etc., but is not limited thereto, and may include various biological information.

[0141] According to an embodiment of the present specification, the massage device 100 may sense the contact area and / or contact position with the user through the sensor unit 310. In addition, the massage device 100 may acquire the shoulder position information of the user through the sensor unit 310. Body information such as the user's sitting height can be acquired through shoulder position sensing. In addition, the massage device 100 can provide personalized massage according to the acquired 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 acquired through the sensor unit 310, and can provide shoulder massage to the user according to the identification result.

[0142] The communication unit 320 communicates with the modules inside the massage device 100, external massage devices, and / or user terminals through any form of network. The communication unit may include a wired / wireless connection module for connecting to the network.

[0143] 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.

[0144] As a wired connection technology, for example, Digital Subscriber Line (XDSL), Fibers to the home (FTTH), Power Line Communication (PLC), etc. are utilized. Additionally, the network connection unit includes a short-range communication module, which can send and receive data with any device / terminal located in the short range. 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 are not limited thereto.

[0145] In addition, the massage device 100 may further include an input unit 350 or an output unit. The massage device 100 can receive input from the user using the input unit 350. Additionally, the massage device 100 can output the processing result of the control unit 300 to the output unit.

[0146] Specifically, the input unit 350 can receive commands related to the operation control of the massage device 100 from the user, and the input unit 350 can be implemented in various forms. For example, the input unit 350 can be provided in the body massage unit 1000 and can also be provided in the leg massage unit 2000, but is not limited thereto. In addition, the input unit 350 can include ​ the massage device control device 4000 or various external devices. The massage device 100 can obtain various instructions from the user through the input unit 350. For example, the massage device 100 can receive any commands such as the selection of the massage module, the selection of the massage type, the selection of the massage intensity, the selection of the massage time, the selection of the massage area, the selection of the position and operation of the body massage unit 1000, the selection of turning on / off the power of the massage device 100, the selection of whether to start the heating function operation, the selection related to sound source playback, etc., but is not limited thereto.

[0147] The massage device 100 can provide an interface for selecting a massage mode. For example, the input unit 350 or the output unit can include the massage device control device 4000. Through the massage device control device 4000, a list of medical massages of various modes related to body improvement can be listed.

[0148] The medical massage mode may include at least one of a concentration mode, a meditation mode, a recovery mode, a stretching mode, a sleep mode, a vitality mode, a golf mode, a hip shaping mode, an examinee mode, a weightlessness mode, and a growth mode.

[0149] The stretching mode may include a PNF stretching mode, a rolling stretching mode, etc.

[0150] According to another embodiment of the present specification, the input unit 350 may have buttons in the form of hot keys and / or option buttons for performing selection, cancellation, and input of directions according to a preset user setting function or a self-preset function, etc. The input unit 350 may be implemented as a touch screen, a keyboard, a dome switch, a touch pad (static pressure / electrostatic), a rotary wheel, a momentary switch, etc., but is not limited thereto. In addition, the input unit 350 may obtain a command based on voice recognition technology according to the user's voice.

[0151] According to an embodiment of the present specification, the output unit may include a display for displaying the operation status of the massage device 100 or the current state of the user. In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, and a 3D display, but is not limited thereto.

[0152] The output unit may include an audio output unit 340. The audio output unit 340 may provide an arbitrary form of audio output to the user through the audio output module 1500. The audio output unit 340 may include the audio output module 1500. For example, the audio output unit 340 outputs to the user the best sound source and / or binaural beats for the massage method provided by the massage device 100 through the audio output module 1500, so as to provide brain stimulation to the user. The audio output unit 340 may output an audio signal received through a network (not shown) or stored in an internal / external storage medium (not shown). For example, the audio output unit 340 may output an audio source based on the control of the user terminal through the connection between the user terminal and the network (e.g., Bluetooth connection, etc.). In addition, the audio output unit 340 may output an arbitrary form of audio signal associated with the operation of the massage device 100.

[0153] Those skilled in the art will understand that the present invention may be combined with other program modules and / or implemented by a combination of hardware and software. For example, the present invention may be implemented by a computer-readable medium. For example, the present invention may be implemented by a computer-readable medium.

[0154] A computer-accessible medium can be any computer-readable medium, including volatile and non-volatile media, transitory and non-transitory media, mobile and non-mobile media. By way of example and not limitation, computer-readable media can include computer-readable storage media and computer-readable transmission media.

[0155] Computer-readable storage media include volatile and non-volatile media, transitory and non-transitory media, mobile and non-mobile media for storing information such as computer-readable instructions, data structures, program modules, or other data, which can be embodied by some methods or technologies. Computer-readable storage media can include RAM, ROM, EEPROM, flash memory or other storage technologies, CD-ROM, digital video disk (DVD) or other optical disk storage devices, cassette tapes, magnetic tapes, magnetic disk storage devices or other magnetic storage devices, or any other medium that can be accessed by a computer and can be used to store the required information, but is not limited thereto.

[0156] ​ is a diagram that decomposes and shows a part of a massage device according to an embodiment of the present specification, ​ is a diagram for explaining a main frame according to an embodiment of the present specification.

[0157] Referring to the accompanying drawings, the main frame 1100 can form the skeleton of the body massage unit 1000. The main frame 1100 includes a body frame 1200 and a base frame 1300 that supports the body frame 1200.

[0158] The body frame 1200 includes: a back frame 1210 for forming the skeleton of the back 1000a that accommodates the upper body of the user; and a seat frame 1250 for forming the skeleton of the seat portion 1000b.

[0159] The base frame 1300 is disposed on the ground and supports the body frame 1200. The base frame 1300 is disposed below the seat frame 1250.

[0160] According to an embodiment of the present specification, the main frame 1100 may further include a bottom base frame 1380 that slidably supports the base frame 1300. Thus, the base frame 1300 can be formed to be able to move forward or backward relative to the ground while supporting the body frame 1200.

[0161] The bottom base frame 1380 is configured to contact the ground and can support the base frame 1300. A sliding unit 1330 may be provided at the lower end of the base frame 1300, and the sliding unit 1330 allows the base frame 1300 to slide relative to the bottom base frame 1380.

[0162] For example, the sliding unit may include a slide bar, a slide rail, and a pulley. The slide bar may be coupled to the lower surface of the base frame 1300. The slide rail may be coupled to the upper surface of the bottom base frame 1380. The pulley may be disposed inside the slide rail. When the base frame 1300 moves, the slide bar moves forward or backward under the guidance of the slide rail, and the pulley helps the slide bar move linearly along the slide rail.

[0163] In this specification, the base frame 1300 may include the bottom base frame 1380. Accordingly, when there is no need to distinguish between the base frame 1300 and the bottom base frame 1380, the base frame 1300 may be referred to as the whole including the bottom frame 1300.

[0164] The base frame 1300 may have a support shaft frame 1320 extending along the upper end in the main body. The support shaft frame 1320 is connected to the seat frame 1250 through a pin member or the like, thereby serving as a support shaft for the seat frame 1250 to rotate forward or backward with respect to the base frame 1300.

[0165] In addition, the support shaft frame 1320 may be used as a coupling portion to which the arm massage unit 3000 is coupled to the base frame 1300.

[0166] The leg massage unit 2000 may be rotatably connected to the front of the base frame 1300 in the vertical direction.

[0167] The body frame 1200 is supported on the base frame 1300.

[0168] At least a part of the body frame 1200 may be provided with a rack 1211. The rack 1211 is a member for guiding the up and down movement of the massage module and may include a plurality of valleys and a plurality of ridges.

[0169] The rack 1211 may be provided on the body frame 1200 in an opposing manner. The massage module may move along the rack 1211. For example, the massage module may include a gear meshing with the rack 1211, and the gear is rotated by an actuator provided in the massage module, so that the massage module can move up or down.

[0170] The rack 1211 may be made of a metal material or a plastic material. For example, the rack 1211 may be made of iron, steel, alloy, reinforced plastic, melamine resin, phenolic resin, etc., but is not limited thereto.

[0171] According to an embodiment of the present specification, the seat frame 1250 and the back frame 1210 are formed of separate frames, and one end of each can be set to be adjacent. The seat frame 1250 and the back frame 1210 are formed of separate frames and are movably coupled to each other, so that the angle between the seat frame 1250 and the back frame 1210 can be easily adjusted. The movement of the back frame 1210 corresponds to the movement of the back 1000a, and the movement of the seat frame 1250 corresponds to the movement of the seat part 1000b.

[0172] The back frame 1210 may include a skeleton forming the back 1000a, and a rack support frame 1220 that supports the rack 1211 and extends in the longitudinal direction.

[0173] The seat frame 1250 supports the back frame 1210 and is disposed on the upper part of the base frame 1300. The seat frame 1250 forms the skeleton of the seat part 1000b, which is the part where the user sits. The seat frame 1250 is connected to and disposed on the back frame 1210.

[0174] The back frame 1210 may be rotatably connected relative to the base frame 1300 and / or the seat frame 1250. The back frame 1210 can be switched so that the massage device 100 realizes a sitting position and a lying position.

[0175] In addition, the seat frame 1250 may be rotatably connected relative to the base frame 1300 and / or the back frame 1210. Therefore, when the massage device 100 changes its posture between the sitting mode and the reclining mode, the angle between the back frame 1210 and the seat frame 1250 can be adjusted.

[0176] The arm massage unit 3000 is disposed on the side of the body massage unit 1000. The arm massage unit 3000 includes a first arm massage unit 3000a disposed on one side of the body massage unit 1000, for example, the right side, and a second arm massage unit 3000b disposed on the other side, for example, the left side.

[0177] The first arm massage unit 3000a may include a first support part 3200a disposed on the lower side and a first arm massage providing part 3100a disposed on the upper side of the first support part 3200a and moving independently. The second arm massage unit 3000b may include a second support part 3200b and a second arm massage providing part 3100b disposed on the upper side of the second support part 3200b and moving independently.

[0178] Hereinafter, the arm massage unit 3000 may refer to each or all of the first arm massage unit 3000a and the second arm massage unit 3000b. Additionally, the support unit 3200 may refer to each or all of the first support unit 3200a and the second support unit 3200b, and the arm massage providing unit 3100 may refer to each or all of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b.

[0179] Hereinafter, unless the first arm massage unit 3000a and the second arm massage unit 3000b need to be distinguished from each other, terms such as the arm massage unit 3000, the support unit 3200, and the arm massage providing unit 3100 are mainly used to describe the structure.

[0180] ​ It is a diagram showing the connection relationship of actuators for adjusting the seat angle, back angle, and leg angle in a massage device according to an embodiment of the present specification.

[0181] The seat angle may be defined as the angle formed by the seat frame with respect to the ground, the back angle may be defined as the angle formed by the back frame with respect to the ground, and the leg angle may be defined as the angle formed by the leg massage unit with respect to the ground.

[0182] ​ Parts (a), (b), and (c) thereof show a seat angle actuator, a back angle actuator, and a leg angle actuator, respectively.

[0183] The massage device 100 according to an embodiment of the present specification includes a plurality of actuators to provide various massage modes and / or stretching modes.

[0184] The massage device 100 according to an embodiment of the present specification may include a slide actuator 1610 for adjusting the slide of the massage device 100 (refer to ​ ).

[0185] The slide actuator 1610 is disposed between the base frame 1300 and the bottom base frame 1380 to adjust the forward and backward movement of the body massage unit. One end of the slide actuator 1610 is connected through the base frame 1300, and the other end is connected to the bottom base frame 1380.

[0186] The massage device 100 according to an embodiment of the present specification may include a seat angle actuator 1620 to adjust the angle of the seat unit 1000b.

[0187] Refer to ​In part (a), the seat angle actuator 1620 can be connected between the base frame 1300 and the seat frame 1250. One end of the seat angle actuator 1620 is connected through the base frame 1300, and the other end is connected to the seat frame 1250. The seat angle actuator 1620 moves the seat frame 1250 relative to the base frame 1300 in the front-rear direction, thereby adjusting the inclination angle of the seat frame 1250 and the seat portion 1000b supported on the seat frame 1250.

[0188] The massage device 100 according to an embodiment of the present specification may include a back angle actuator 1630 to adjust the angle of the back 1000a.

[0189] Refer to ​ In part (b), the back angle actuator 1630 can be connected between the seat frame 1250 and the back frame 1210. One end of the back angle actuator 1630 is connected through the seat frame 1250, and the other end is connected to the back frame 1210. The back angle actuator 1630 moves the back frame 1210 relative to the seat frame 1250 in the front-rear direction, thereby adjusting the angle of the back frame 1210 and the back 1000a supported on the back frame 121.

[0190] The massage device 100 according to an embodiment of the present specification may include a leg angle actuator 1640 to adjust the angle of the leg massage unit 2000.

[0191] Refer to ​ In part (c), the leg angle actuator 1640 can be provided between the seat frame 1250 and the leg massage unit 2000.

[0192] One end of the leg angle actuator 1640 is connected through the seat frame 1250, and the other end is connected to the leg angle adjustment unit 2110. The leg angle adjustment unit 2110 may be provided with a wheel, the upper end of which is hinged to the base frame 1300 and the other end contacts the rear surface of the leg massage unit 2000.

[0193] When the leg angle actuator 1640 extends, the leg angle adjustment unit 2110 rotates upward about the hinge connection part, and the wheel at the other end pushes the leg massage unit 2000 upward. When the leg angle actuator 1640 contracts, the leg angle adjustment unit 2110 rotates downward, and the leg massage unit 2000 descends in a state of contacting the leg angle adjustment unit 2110. As described above, the leg angle actuator 1640 adjusts the angle of the leg massage unit 2000 by moving the leg angle adjustment unit 2110 to rotate the leg massage unit 2000 in the up-down direction.

[0194] According to the massage device of the present specification, it is not excluded that one end of the leg angle actuator 1640 is connected to the base frame 1300. However, according to an embodiment of the present specification, when the leg angle actuator 1640 is provided between the seat frame 1250 and the leg angle adjustment unit 2110, since the adjustment angle of the seat frame 1250 and the angle adjusted by driving the leg angle adjustment unit 2110 are added together to adjust the angle of the leg massage unit 2000, when the posture is switched to the reclining mode, it is easy to increase the angle of raising the leg massage unit 2000.

[0195] In an embodiment where the leg massage unit 2000 includes a first leg massage unit 2000a and a second leg massage unit 2000b that are physically separated and operate independently, the leg angle actuator 1640 is provided corresponding to the first leg massage unit 2000a and the second leg massage unit 2000b one by one, and is controlled separately.

[0196] According to an embodiment of the present specification, each of the actuators including the sliding actuator 1610, the seat angle actuator 1620, the back angle actuator 1630, and the leg angle actuator 1640 is controlled by the control unit 300. For example, the control unit 300 can control the sliding, seat angle, back angle, and leg angle of the massage device by controlling the actuators.

[0197] According to an embodiment of the present specification, each actuator is provided with an encoder capable of detecting the rotational speed and speed of the motor, and the elongation / contraction length, speed, etc. of the actuator can be controlled by the control unit 300 to suit various modes of the massage device 100 and the user's body.

[0198] ​ It is a diagram showing an example of the posture change of the massage device of the present specification.

[0199] According to an embodiment of the present specification, the massage device 100 can change its posture to achieve the sitting mode (left side) and the reclining mode (right side).

[0200] According to an embodiment of the present specification, the massage device 100 can individually adjust the seat angle, back angle, and leg angle to a set angle in order to execute a specific massage mode and a specific stretching mode.

[0201] For example, the massage device 100 can slide forward (Front). Before the massage device 100 changes its posture to the reclining mode, the massage device 100 can slide forward to prevent the massage device 100 from colliding with the structure behind it.

[0202] In addition, in order to execute a specific stretching mode, the massage device 100 can perform the actions of adjusting the seat angle, back angle, and leg angle simultaneously, sequentially, or with a delay.

[0203] According to an embodiment of the present specification, when the massage device 100 changes from the sitting mode posture to the reclining mode, the back frame 1210 supports the back 1000a and lies flat toward the ground, the seat frame 1250 supports the seat part 1000b and lifts relative to the ground, and the leg massage part 2000 lifts relative to the ground.

[0204] In addition, in the arm massage part 3000, the arm massage providing part 3100 moves backward and obliquely relative to the support part 3200.

[0205] In the present specification, the front or rear direction is based on ​ the direction shown.

[0206] ​ is a diagram showing the structure and operation of the independent movement of the arm massage part of the massage device according to an embodiment of the present specification, ​ is a diagram showing the inner surface of the arm massage providing part of the massage device according to an embodiment of the present specification, ​ is ​ the partial exploded perspective view of the arm massage part shown, ​ is a component diagram of the arm massage part driving module of the massage device according to an embodiment of the present specification.

[0207] The arm massage part 3000 is provided at the side of the body massage part 1000. The arm massage part 3000 is provided to fix the user's arm and / or provide massage to the user's arm.

[0208] The arm massage part 3000 includes a support part 3200, an arm massage providing part 3100, and an arm massage part driving module 3300.

[0209] The arm massage providing part 3100 is disposed on the upper side of the support part 3200 and is movably supported.

[0210] The arm massage part driving module 3300 provides a moving force for the arm massage providing part 3100 to move independently relative to the support part 3200.

[0211] Referring to ​ , in the sitting mode (left side) of the massage device 100, the position of the arm massage providing part 3100 is called the first position, and in the reclining mode (right side) of the massage device 100, the position of the arm massage providing part 3100 is called the second position. The second position is a position where the arm massage providing part 3100 moves backward and obliquely compared to the first position such that the position of the arm massage providing part 3100 drops. As described above, the arm massage providing part 3100 can move obliquely downward from the first position to the second position relative to the support part 3200.

[0212] The arm massage providing portion 3100 is formed with an arm receiving groove 3110 for inserting the user's arm (see ​ An arm airbag 3112 is provided in the arm receiving groove 3110 for securing the user's arm. The arm receiving groove 3110 is formed into a "匚"-shaped groove that opens toward the inner surface 3103 of the arm massage providing unit 3100. The arm airbag 3112 can be inflated by the airbag supply unit to secure the user's arm, or repeatedly inflated and deflated to provide massage.

[0213] An interference prevention groove 3101 may be formed on the rear side of the inner surface 3103 of the arm massage providing portion 3100. The interference prevention groove 3101 is formed to prevent interference between the arm massage providing portion 3100 and the back 1000a when the massage device 100 is switched to the tilt mode and the back 1000a is laid flat and / or when the arm massage providing portion 3100 moves relative to the support portion 3200.

[0214] The support portion 3200 may be fixed to a side of the base frame 1300 .

[0215] The upper surface 3210 of the support portion 3200 is formed as a downwardly inclined surface that slopes downwardly, and the lower surface 3107 of the arm massage providing portion 3100 is formed to slope correspondingly to the downwardly inclined upper surface 3210. The arm massage providing portion 3100 moves obliquely along the downwardly inclined upper surface 3210 of the support portion.

[0216] The arm massage part driving module 3300 is used to support the arm massage providing part 3100 so as to be movable relative to the supporting part 3200 and provide a moving force.

[0217] The arm massage part driving module 3300 may include an arm massage part actuator 3320, a support plate 3310, a guide rail 3330, and a guide block 3340 (see FIG. ​ ) at least part or all of.

[0218] According to the present specification, one side of the arm massage part actuator 3320 is connected to the support part 3200, and the other side is connected to the arm massage providing part 3100. When the arm massage part actuator 3320 is extended or retracted, the arm massage providing part 3100 can move relative to the support part 3200. The arm massage part actuator 3320 provides a moving force that directly moves the arm massage providing part 3100 relative to the support part 3200.

[0219] The arm massage part actuator 3320 may be connected parallel to the movement direction of the arm massage providing part 3100 , for example, in an oblique movement direction, so that the arm massage providing part 3100 moves along a movement path parallel to the extension and contraction direction of the arm massage part actuator 3320 .

[0220] According to an embodiment of the present specification, the arm massage unit actuator 3320 is disposed inside the arm massage providing unit 3100.

[0221] The arm massage unit actuator 3320 is disposed inside one of the arm massage providing unit 3100 and the support unit 3200, and the arm massage unit actuator 3320 is connected to the other of the arm massage providing unit 3100 and the support unit 3200 through the support plate 3310. Thus, the arm massage unit actuator 3320 can be connected to both the arm massage providing unit 3100 and the support unit 3200.

[0222] The support plate 3310 physically connects the arm massage unit actuator 3320 disposed inside one of the arm massage providing unit 3100 and the support unit 3200 to the other of the spaced-apart arm massage providing unit 3100 and the support unit 3200, thereby supporting the movement of the arm massage providing unit 3100 relative to the support unit 3200.

[0223] According to an embodiment of the present specification, the support plate 3310 may include a lower portion 3311 fixed to the support unit 3200 and an upper portion 3312 extending upward from the lower portion 3311 and disposed inside the arm massage providing unit 3100.

[0224] The arm massage unit actuator 3320 is disposed adjacent to the lower surface 3107 inside the arm massage providing unit 3100, and one side is connected to the support plate 3310. The other side of the arm massage unit actuator 3320 is connected to the arm massage providing unit 3100.

[0225] According to an embodiment of the present specification, the lower portion 3311 of the support plate 3310 is exemplified in the form of being fixed inside the support unit 3200, but is not limited thereto. For example, it may be a portion fixed to the upper surface 3210 of the support unit 3200.

[0226] The support plate 3310 passes through the second through hole 3212 formed in the upper surface 3210 of the support unit 3200 and the first through hole 3107a formed in the lower surface 3107 of the arm massage providing unit 3100 and extends. Since the first through hole 3107a formed in the lower surface 3107 of the arm massage providing unit 3100 forms a path for the relative movement of the arm massage providing unit 3100 relative to the support plate 3310, the support plate 3310 has a sufficient length and extends in the length direction so as not to interfere with the arm massage providing unit 3100.

[0227] According to an embodiment of the present specification, the lower part 3311 of the support plate 3310 may extend into the support part 3200 and be fixed. The lower frame 3204 is fixed to the main body of the support part 3200 formed by injection molding, that is, the lower main body 3202, and the lower part 3311 of the support plate 3310 is fixed to the lower frame 3204. This structure helps with the assembly of the arm massage part 3000 including the support plate 3310 and the support plate 3310 to support the load of the arm massage providing part 3100.

[0228] The upper part 3312 of the support plate 3310 may be supported to be relatively movable with respect to the arm massage providing part 3100. According to an embodiment of the present specification, the support plate 3310 may support the arm massage providing part 3100 in a relatively movable manner, specifically, the guide rail 3330.

[0229] One end of the arm massage part actuator 3320 may be fixed to the support plate 3310. A first bracket 3315 connected to one side of the arm massage part actuator 3320 is provided on one side of the upper part 3312 of the support plate 3310.

[0230] The arm massage part actuator 3320 is disposed and extends obliquely parallel to the movement path of the arm massage providing part 3100, and the other side of the arm massage part actuator 3320 is fixed to the arm massage providing part 3100. The arm massage providing part 3100 has a main body formed by injection molding, that is, the upper frame 3104 fixed to the upper main body 3102, and the other side of the arm massage part actuator 3320 is fixed to the upper frame 3104. A second bracket 3105 connected to the other end of the arm massage part actuator 3320 is provided on the upper frame 3104.

[0231] When the arm massage part actuator 3320 operates, the rod 3323 is pulled out, the arm massage part actuator 3320 extends with respect to the support plate 3310 with one end fixed, and the other end of the arm massage part actuator 3320 fixed to the second bracket 3105 pulls the arm massage providing part 3100. Therefore, a tilting moving force for the arm massage part 3000 is provided. Accordingly, the arm massage providing part 3100 can move obliquely along the extending direction of the arm massage part actuator 3320. Since the support plate 3310 is fixed to the support part 3200, the arm massage providing part 3100 moves with respect to the support part 3200.

[0232] According to an embodiment of the present specification, the guide rail 3330 is disposed on the arm massage providing part 3100 and is connected to one side of the arm massage part actuator 3320 in a relatively movable manner. The guide rail 3330 guides the movement of the arm massage providing part 3100 with respect to the support part 3200.

[0233] The guide rail 3330 extends and is fixed adjacent to the first through hole 3107a of the lower surface 3107 inside the arm massage providing unit 3100. The guide rail 3330 is configured to be parallel to the extending direction of the arm massage unit actuator 3320 and the moving direction of the arm massage providing unit 3100.

[0234] The second bracket 3105 coupled to the other end of the arm massage unit actuator 3320 is disposed at a distance from the guide rail 3330 at the rear side of the guide rail 3330.

[0235] One side of the arm massage unit actuator is movably connected to the guide rail 3330 relatively. For example, when the arm massage unit actuator 3320 extends, the other side of the arm massage unit actuator 3320 moves in the direction in which the length increases with respect to one side, and the arm massage providing unit 3100 moves together with the guide rail 3330 relative to one side of the arm massage unit actuator 3320.

[0236] According to an embodiment of the present specification, one side of the arm massage unit actuator 3320 is connected to the guide rail 3330 through the support plate 3310. However, it is not limited thereto. For example, the support plate 3310 is fixed to the main body located on one side of the arm massage unit actuator 3320, and the other end of the arm massage unit actuator 3320 may be directly connected to the guide rail 3330 movably relatively.

[0237] With reference to the drawings, an embodiment in which one side of the arm massage unit actuator 3320 is connected to the guide rail 3330 through the support plate 3310 will be described.

[0238] One side of the arm massage unit actuator 3320 is disposed on one surface of the upper part 3312 of the support plate 3310, and one end is coupled through the first bracket 3315. The guide rail 3330 is disposed on the other surface of the support plate 3310.

[0239] A guide block 3340 is coupled to the other surface of the support plate 3310 facing the guide rail 3330.

[0240] The guide block 3340 coupled to the support plate 3310 guides the movement of the guide rail 3330. For this purpose, the guide block 3340 is inserted so that the guide rail 3330 can move relatively. Therefore, the guide rail 3330 can move in a state of being supported by the guide block 3340.

[0241] The guide block 3340 is formed to be fitted into the rail protrusions 3331 protruding from the upper and lower portions of the guide rail 3330 toward the support plate 3310. In the guide block 3340, the upper guide block and the lower guide block form one guide block unit.

[0242] The guide block 3340 may be formed in a shape in which an upper guide block and a lower guide block that are fitted to the upper and lower parts of the guide rail 3330 are connected. In this case, one guide block 3340 forms one guide block unit.

[0243] When the guide blocks are separately formed to form the upper and lower guide blocks, it is advantageous to configure the guide block 3340 according to the design of the guide rail 3330 and easy to assemble. The guide block 3340 may be fixed to the other surface of the support plate 3310 by fastening members.

[0244] According to an embodiment of the present specification, one or more guide block units are disposed on the guide rail and are spaced apart along the length direction of the guide rail.

[0245] Referring to ​ , it can be seen that four guide blocks 3340 form two guide block units and are spaced apart along the length direction of the guide rail 3330. When at least two guide block units are provided, even if a lateral load is generated on the arm massage providing unit 3100, the support plate 3310 and the guide rail 3330 remain parallel to each other, which is advantageous for preventing shaking.

[0246] In addition, since the guide block 3340 is fitted to the guide rail 3330, the arm massage providing unit 3100 combined with the guide rail 3330 can be stably supported by the support plate 3310 and the support portion 3200 that fixes the support plate 3310.

[0247] According to an embodiment of the present specification, when the arm massage unit actuator 3320 pulls the rod 3323 out to the outside by the driving of the motor, so that the arm massage unit actuator 3320 extends, the guide rail 3330 moves in a state of supporting the arm massage providing unit 3100. The guide rail 3330 is supported and moved by the guide block 3340 of the support plate 3310. That is, when the arm massage unit actuator 3320 extends, the guide rail 3330 moves, thereby guiding the movement of the arm massage providing unit 3100.

[0248] The arm massage unit actuator 3320 is controlled by the control unit 300. In addition, an encoder for detecting the rotation of the motor may be provided in the arm massage unit actuator 3320. Therefore, the control unit 300 can control while detecting the extension and contraction lengths, speeds, etc. of the arm massage unit actuator 3320.

[0249] The movement of the arm massage providing unit 3100 is determined by the extending direction of the arm massage unit actuator 3320 and the extending direction of the guide rail 3330, and the arm massage providing unit 3100 can be supported by the connection between the guide rail 3330 and the support plate 3310. Since the support plate 3310 supports the load of the arm massage providing unit 3100, the load can be dispersed even when the support unit 3200 does not directly contact or directly contacts the arm massage providing unit 3100. Therefore, the load of the entire arm massage providing unit 3100 is applied between the upper surface 3210 of the support unit 3200 and the lower surface 3107 of the arm massage providing unit 3100, and compared with the case of guiding the movement by direct contact, noise and appearance damage can be minimized.

[0250] The arm massage unit 3000 according to the present specification includes a first arm massage unit 3000a disposed on one side of the body massage unit and a second arm massage unit 3000b disposed on the other side of the body massage unit (refer to ​ ).

[0251] Since the movement of the first arm massage providing unit 3100a relative to the first support unit 3200a in the first arm massage unit 3000a and the movement of the second arm massage providing unit 3100b relative to the second support unit 3200b in the second arm massage unit 3000b are performed by the arm massage unit drive modules respectively provided in the first arm massage unit 3000a and the second arm massage unit 3000b, such as arm massage unit actuators, they move independently of each other. Therefore, the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in opposite movement directions to each other or act with different movement distances, so as to perform specific actions in the stretching mode or the massage mode.

[0252] The independent movement of the arm massage providing unit 3100 according to the present specification, that is, movement control enables various massage modes or stretching modes to be executed.

[0253] The movement of the arm massage providing unit 3100 relative to the support unit 3200 is performed independently by an arm massage unit driving module 3300 that movably connects the support unit 3200 and the arm massage providing unit 3100, such as an arm massage unit actuator 3320. Additionally, the movement between the arm massage providing unit 3100, the backrest 1000a, the seat unit 1000b, and the leg massage unit 2000 is restricted and not mechanically connected. For example, the arm massage providing unit 3100 can be movably connected relative to the support unit 3200 and can be configured not to be directly connected to the backrest 1000a, the seat unit 1000b, or the leg massage unit 2000. Therefore, in the arm massage unit 3000, the movement of the arm massage providing unit 3100 is independent of the angle adjustment of the backrest 1000a by the backrest angle actuator 1630, i.e., the backrest angle adjustment, the angle adjustment of the seat unit 1000b by the seat angle actuator 1620, i.e., the seat angle adjustment, and the leg angle adjustment by the leg angle actuator 1640 and can be performed independently.

[0254] Therefore, taking one action in the stretching mode as an example, the arm airbag 3112 in the arm receiving groove 3110 can expand and fix the user's arm. In this state, when the posture changes to the reclining mode and the backrest 1000a rotates backward and downward, the state of fixing the user's arm in the arm receiving groove 3110 can be maintained. Thus, the user's back is separated from the backrest 1000a and the arm is in a pulled state. Thereby, an arm stretching action can be performed.

[0255] After performing a predetermined arm stretching action, when the arm massage providing unit 3100 moves backward and downward relative to the support unit 3200, i.e., the arm massage providing unit 3100 moves from the first position to the second position, the user's back can lean against the backrest 1000a again. Since the user's shoulders drop in the reclining mode of the backrest 1000a, the user's arms move backward and to a lower position, thus being in a comfortable position overall.

[0256] According to this specification, since the arm massage unit actuator 3320 moves independently without being mechanically restricted by leg angle adjustment, backrest - seat angle, and / or seat angle adjustment, the above - mentioned actions can be performed.

[0257] In addition, according to an embodiment of the present specification, the movement of the arm massage providing unit 3100 relative to the support unit 3200 is associated with the length and angle adjustment movements of the first leg massage unit 2000a and the second leg massage unit 2000b, and can move independently to achieve various action modes. For example, when the first leg massage unit 2000a and the second leg massage unit 2000b of the leg massage unit 2000 are adjusted to different lengths from each other and to different leg angles in a walking mode, the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in association with the movements of the first leg massage unit 2000a and the second leg massage unit 2000b and move independently, so that an action more suitable for the walking mode can be achieved.

[0258] ​ It is a diagram of a sensor unit of an arm massage unit of a massage device for explaining an embodiment of the present specification.

[0259] According to an embodiment of the present specification, the arm massage providing unit 3100 of the arm massage unit 3000 may be provided with sensors 3401, 3402, and 3403 for preventing safety accidents caused by the action of the arm massage providing unit 3100 or other parts of the massage device 100, such as the body massage unit 1000.

[0260] When the arm massage providing unit 3100 moves relatively, a jamming accident may occur between the arm massage providing unit 3100 and the body massage unit 1000 and / or the support unit 3200. The jamming accident may occur because an object such as a user's body or clothes is caught between the arm massage providing unit 3100 and other parts.

[0261] In addition, when the arm massage providing unit 3100 of the arm massage unit 3000 moves backward, a collision accident with the arm massage providing unit 3100 may occur.

[0262] To detect this, at least one or all of the rear surface 3106, the lower surface 3107, and the front surface 3108 of the arm massage providing unit 3100 are provided with sensors.

[0263] According to an embodiment of the present specification, the sensor may be an electrostatic sensor.

[0264] A first sensor 3401 is disposed on the inner side of the upper main body 3102 with the rear surface 3106 of the arm massage providing unit 3100 facing upward. The first sensor 3401 may be a contact detection sensor for detecting object contact to prevent a collision accident, and is formed as an electrostatic sensor.

[0265] The first sensor 3401 extends in a shape that bends corresponding to the ribs for reinforcing the upper body 3102 so as not to interfere with the ribs, and can be disposed inside the upper body 3102 in a manner of contacting the rear surface 3106 of the arm massage providing unit 3100. Although ribs are formed for reinforcing the arm massage providing unit 3100, the first sensor 3401 can be disposed in a manner of contacting the inside of the rear surface 3106.

[0266] The first sensor 3401 detects the contact of an object on the rear surface 3106 of the arm massage providing unit 3100, thereby preventing accidents due to collisions. When an object exists in this part when the arm massage providing unit 3100 moves downward and inclines relative to the support unit 3200, the first sensor 3401 detects the static electricity of the object, and the massage device 100 can stop operating and output a warning sound.

[0267] The second sensor 3402 is configured to detect an object stuck between the inclined surface forming the lower surface 3107 and the inclined surface forming the upper surface of the support unit 3200 on the lower side of the arm massage providing unit 3100. The second sensor 3402 can be formed as an electrostatic sensor. The second sensor 3402 is configured to contact the lower surface 3107 inside the upper body 3102 of the arm massage providing unit 3100. The second sensor 3402 can be disposed at the rear side portion of the lower surface 3107 of the arm massage providing unit 3100. When the arm massage providing unit 3100 moves downward and inclines relative to the support unit 3200, an object stuck between the inclined surfaces of the arm massage providing unit 3100 and the support unit 3200 is detected along the moving path of the arm massage providing unit 3100. Similar to the first sensor 3401, the second sensor 3402 extends in a shape that bends corresponding to the ribs for reinforcing the upper body 3102 so as not to interfere with the ribs. Therefore, although ribs for reinforcement are formed on the lower surface 3107 of the arm massage providing unit 3100, the second sensor 3402 can be disposed in a manner of contacting the inside of the rear surface 3107.

[0268] The third sensor 3403 is configured to detect an object stuck between the inclined surface forming the lower surface 3107 and the inclined surface forming the upper surface of the support unit 3200 on the front side of the arm massage providing unit 3100. The third sensor 3403 can be formed as an electrostatic sensor. The third sensor 3403 is disposed inside the upper body 3102 of the arm massage providing unit 3100 and contacts the lower end of the front surface 3108. When the arm massage providing unit 3100 moves upward and inclines relative to the support unit 3200, an object stuck between the inclined surfaces of the arm massage providing unit 3100 and the support unit 3200 is detected along the moving path of the arm massage providing unit 3100.

[0269] ​This is a diagram for explaining the joint part between the arm massage part and the body massage part in the massage device described in this specification. ​ This is for explaining ​ a diagram of the joint structure and assembly method of the joint part shown. ​ Part A of ​ shows the front joint part. ​ Part B of ​ shows the middle joint part. ​ Part C of ​ shows the rear joint part.

[0270] According to an embodiment of this specification, the arm massage part 3000 is arranged at the side part of the body massage part 1000 in such a way that the support part 3200 is combined with the side surface of the frame of the body massage part 1000. The frame of the body massage part 1000 can be the base frame 1300.

[0271] The joint part between the support part 3200 and the frame of the body massage part 1000, such as the base frame 1300, includes the front joint parts P1, P2, the middle joint part P3, and the rear joint part P4.

[0272] Referring to ​ and ​ In the (a) part of ​ , the front joint parts P1, P2 are formed at the front side of the base frame 1300.

[0273] The base frame 1300 is provided with a joint frame 1302 at the front side, and the joint frame 1302 extends upward. The joint frame 1302 can form the side surface of the frame of the body massage part 1000.

[0274] The first fastening port 1303 and the second fastening port 1304 protrude toward the frame of the body massage part 1000, such as the front side of the base frame 1300. The first fastening port 1303 forms the front joint part P1 and is formed to protrude forward from the upper part of the joint frame 1302. The second fastening port 1304 forms the front joint part P2 and is formed to protrude forward while being separated from the first fastening part 1303.

[0275] Fastening holes for fastening bolts are formed on the inner surface 3203 of the support part 3200 at positions corresponding to the first fastening port 1303 and the second fastening port 1304. Bolts are fastened in a state where the first fastening port 1303, the second fastening port 1304, and the fastening holes are aligned, thereby performing the assembly of the front joint parts P1, P2.

[0276] Since the front joint parts P1, P2 are shaped to be exposed to the outside from the front side of the massage device 100, bolt fastening can be easily performed.

[0277] Referring to ​ and ​In part (b), the intermediate coupling portion P3 can be formed on the frame of the body massage portion 1000, for example, the intermediate portion on the side of the base frame 1300.

[0278] On the side of the frame forming the body massage portion 1000, for example, the intermediate portion on the side of the base frame 1300, a first insertion bracket 1310 is provided on the support shaft frame 1320 facing the inner surface 3203 of the support portion 3200. Correspondingly, a coupling protrusion 3205 protrudes from the intermediate portion of the inner surface 3203 of the support portion 3200.

[0279] The first insertion bracket 1310 provided on the support shaft frame 1320 is provided with a first coupling groove 1311 having an open upper end. The opening of the first coupling groove 1311 is formed in a conical shape such that the opening widens upward. The two side surfaces of the first insertion bracket 1310 are bent toward the support shaft frame 1320 of the base frame 1300. Therefore, the first insertion bracket 1310 is formed in a pocket shape that houses the outer end of the coupling protrusion 3205 formed in the intermediate portion of the inner surface of the support portion 3200 inside.

[0280] The coupling protrusion 3205 is formed to protrude from the intermediate portion of the inner surface of the support portion 3200 corresponding to the first insertion bracket 1310 and is inserted into the first coupling groove 1311.

[0281] The coupling protrusion 3205 is formed with a recessed portion 3205a that is partially recessed for insertion into the first coupling groove 1311. Therefore, when the coupling protrusion 3205 is placed at the opening of the first coupling groove 1311 of the first insertion bracket 1310, the coupling protrusion 3205 is guided to the first coupling groove 1311, and the recessed portion 3205a is coupled to the inside of the first coupling groove 1311.

[0282] Refer to ​ and ​ In part (c), the rear coupling portion P4 is adjacent to the intermediate coupling portion P3 and is formed below and behind the intermediate coupling portion P3.

[0283] The rear coupling portion P4 is formed rearward from the intermediate portion of the base frame 1300 of the body massage portion 1000 and the inner surface 3203 of the support portion 3200. A tool is inserted from the rear side of the massage device 100 for final fixation, which is called the rear coupling portion P4.

[0284] The rear coupling portion P4 includes a fastening member 1315 and a second insertion bracket 3206 coupled to the fastening member 1315.

[0285] On the frame of the body massage portion 1000, for example, the lower rear surface of the support shaft frame 1320 of the base frame 1300, a rear surface fastening hole 1322 is formed, and the fastening member 1315 is coupled to the rear surface fastening hole 1322.

[0286] The fastening member 1315 may include a fastening portion 1315a, a diameter-expanded portion 1315b, and a head portion 1315c. The fastening portion 1315a is threadedly fastened to the rear surface fastening hole 1322.

[0287] The fastening member 1315 has a first fastening depth at which the fastening portion 1315a is loosely fixed to the rear surface fastening hole 1322 and a second fastening depth at which the fastening portion 1315a is tightly fixed to the rear surface fastening hole 1322.

[0288] The second insertion bracket 3206 protrudes toward the lower rear of the coupling protrusion 3205 at the middle portion of the inner surface 3203 of the support portion 3200. The second insertion bracket 3206 protrudes to extend across the inner surface 3203 of the support portion 3200 and has a second coupling groove 3206a for inserting the fastening member 1315.

[0289] Compared with the first coupling groove 1311 of the first insertion bracket 1310, the second coupling groove 3206a of the second insertion bracket 3206 is formed with a different opening direction. The first coupling groove 1311 of the first insertion bracket 1310 opens upward, and the second coupling groove 3206a of the second insertion bracket 3206 opens downward.

[0290] The opening of the second coupling groove 3206a of the second insertion bracket 3206 is formed to guide the fastening portion 1315a of the fastening member 1315 to the inside of the second coupling groove 3206a. The inner groove of the second coupling groove 3206a is formed to correspond to the diameter-expanded portion 1315b of the fastening member 1315.

[0291] In a state where the fastening member 1315 is loosely assembled at the first fastening depth, the fastening portion 1315a is inserted into the inner groove of the second coupling groove 3206a of the second insertion bracket 3206, so as to be in a loosely assembled state. After that, when the fastening member 1315 is tightly fastened at the second fastening depth, the diameter-expanded portion 1315b of the fastening member 1315 can penetrate into the inner groove of the second coupling groove 3206a and be firmly fixed.

[0292] For this purpose, a chamfer may be formed between the diameter-expanded portion 1315b and the fastening portion 1315a of the fastening member 1315 so that the diameter gradually increases. Therefore, when the fastening member 1315 is fastened in the state of the first fastening depth of being loosely assembled first, it is in the state of the second fastening depth, and the rear coupling portion P4 can be firmly fastened and the shaking can be prevented.

[0293] Hereinafter, the assembly method of the support portion 3200 of the arm massage portion 3000 and the base frame 1300 will be described.

[0294] In the massage device 100, the arm massage unit 3000 is fixed to the side of the body massage unit 1000. In a state where the seat unit 1000b and the backrest 1000a are assembled on the upper part of the base frame 1300, the support unit 3200 can be fixed to the base frame 1300.

[0295] Since the position of the rear coupling part P4 is a position blocked by the support unit 3200 and the body massage unit 1000, it is difficult to perform assembly by a simple bolt tightening method. It is difficult to visually confirm the tightening position, and it is not easy to align the tightening position, so it becomes a factor increasing the assembly difficulty.

[0296] According to an embodiment of the present specification, first, at the position of the rear coupling part P4, the fastening member 1315 is loosely pre-assembled in the rear surface fastening hole 1322 of the support shaft frame 1320.

[0297] After that, at the position of the middle coupling part P3, the first insertion bracket 1310 and the coupling protrusion 3205 are inserted and assembled, and at the position of the rear coupling part P4, the second insertion bracket 3206 and the fastening member 1315 are inserted and assembled.

[0298] At the position of the rear coupling part P4, the alignment of the fastening position is performed by inserting the fastening member 1315 into the second coupling groove 3206a of the second insertion bracket 3206 and hooking it. After that, by using a long tool at the rear side of the massage device 100, the fastening member 1315 can be fixed at the P4 position by the action of tightening the fastening member 1315. At this time, the expanded diameter part 1315b of the fastening member 1315 can be pressed into the second coupling groove 3206a of the second insertion bracket 3206 and firmly combined.

[0299] Since the head 1315c of the fastening member 1315 at the rear coupling part faces the rear side of the massage device 100, the assembly of the rear coupling part P4 is completed by a simple action of tightening with a long tool.

[0300] After that, at the positions of the front coupling parts P1 and P2, the support unit 3200 and the front part of the base frame 1300 are fixed by tightening bolts through the first fastening port 1303 and the second fastening port 1304 of the base frame 1300.

[0301] According to an embodiment of the present specification, since the assembly of the second insertion bracket 3206 and the fastening member 1315 at the position of the rear coupling part P4 is performed by the insertion guide of the first insertion bracket 1310 and the coupling protrusion 3205 at the position of the middle coupling part P3, the setting of the fastening position at the position of the rear coupling part P4, that is, the fitting of the fastening member 1315 and the second insertion bracket 3206, is relatively easy.

[0302] In addition, at the rear joint portion P4 where assembly is difficult, since the fastening member 1315 can be tightened in a state where the load on the support portion 3200 is not concentrated on the fastening member 1315 but is dispersed, tightening using a tool can be performed relatively easily.

[0303] According to an embodiment of the present specification, in the coupling structure of the base frame and the arm massage unit, the structure of the arm massage unit that tilts and moves relative to the support portion is not limited, and can be applied to an arm massage unit in which the arm massage providing unit and the support portion are fixed relative to each other.

[0304] Hereinafter, a method for aligning and moving a first arm massage unit and a second arm massage unit that can move independently, relatively, and / or in linkage will be described. When describing the method for aligning and moving the first arm massage unit and the second arm massage unit, since each component of the massage device has been described above, detailed description will be omitted.

[0305] As described above, the massage device 100 according to an embodiment of the present specification may include a body massage unit 1000, a first arm massage unit 3000a, a second arm massage unit 3000b, and a control unit 300.

[0306] The first arm massage unit 3000a is disposed on one side of the body massage unit 1000 and can move back and forth.

[0307] The second arm massage unit 3000b is disposed on the other side of the body massage unit 1000 and can move back and forth.

[0308] The forward movement of the first arm massage unit 3000a and the second arm massage unit 3000b may refer to moving toward the leg massage unit 2000.

[0309] The backward movement of the first arm massage unit 3000a and the second arm massage unit 3000b may refer to moving toward the back 1000a.

[0310] As described above, the first arm massage unit 3000a and the second arm massage unit 3000b can move (or act) in a manner independent of, relative to, and / or in linkage with each other. For example, the first arm massage unit 3000a and the second arm massage unit 3000b can move independently, relatively, and / or in linkage with each other in a manner relative to, independent of, and / or in linkage with each other.

[0311] In addition, the massage actions of the first arm massage part 3000a and the second arm massage part 3000b can be independent, relative, and / or linked to each other. In this case, the massage actions of the first arm massage part 3000a and the second arm massage part 3000b can refer to the actions of the massage modules of the first arm massage part 3000a and the second arm massage part 3000b used to massage the user's arms. The massage modules of each arm massage part can be various massage modules such as air bags, rollers, and vibration modules in each arm massage part, and the various massage modules can operate independently, relative, and / or in a linked manner. The control unit 300 can control the movement of the body massage part 1000, the first arm massage part 3000a, and the second arm massage part 3000b.

[0312] According to an embodiment of the present disclosure, the control unit 300 may calculate a deviation between the movement speeds of the first and second arm massage parts 3000a and 3000b by moving the first and second arm massage parts 3000a and 3000b. In this case, the movement speed of the arm massage part 3000 may correspond to the movement speed of the arm massage providing unit 3100.

[0313] The control unit 300 may control the movement speed of at least one of the first and second arm massage parts 3000a and 3000b so that the deviation between the movement speeds of the first and second arm massage parts 3000a and 3000b is within a preset deviation range (or a critical deviation value). In other words, the control unit 300 controls the movement speed of at least one of the first and second arm massage parts 3000a and 3000b based on the deviation between the movement speeds of the first and second arm massage parts 3000a and 3000b, thereby aligning and moving the first and second arm massage parts 3000a and 3000b.

[0314] As mentioned above (refer to ​) The massage device 100 may include an arm massage unit actuator 3320 that operates by the drive of a motor to move the arm massage unit 3000, and a rotary encoder (not shown) that senses the rotation of the motor. As described above, since the arm massage unit 3000 includes a first arm massage unit 3000a and a second arm massage unit 3000b, the arm massage unit actuator 3320 may also include a first arm massage unit actuator for the first arm massage unit and a second arm massage unit actuator for the second arm massage unit, and the encoder may also include a first encoder for the motor of the first arm massage unit actuator and a second encoder for the motor of the second arm massage unit actuator. Each arm massage unit actuator adjusts the length between one end and the other end of each arm massage unit actuator by the drive of the motor of each arm massage unit actuator, so that each arm massage unit can be moved. Each encoder can sense the rotation of the motor of each arm massage unit actuator.

[0315] The arm massage unit 3000 may include an arm massage providing unit 3100, a support unit 3200, and an arm massage unit actuator 3320. One side of the arm massage unit actuator 3320 may be connected to the support unit 3200, and the other side may be connected to the arm massage providing unit 3100. The arm massage providing unit 3100 may slide in the front-rear direction according to the expansion and contraction of the arm massage unit actuator 3320.

[0316] According to an embodiment of the present specification, the arm massage unit actuator 3320 pulls out the rod 3323 to the outside by the drive of the motor, so that the arm massage unit actuator 3320 extends, and thus the arm massage providing unit 3100 can slide.

[0317] The arm massage unit actuator 3320 may include a motor, a linear motor, an electronic motor, a direct current (DC) motor, an alternating current (AC) motor, a linear actuator, an electric actuator, etc. This is only an example and is not limited thereto.

[0318] The control unit 300 may control the operation of the arm massage unit actuator 3320.

[0319] According to an embodiment of the present specification, an encoder for detecting the rotation of the motor may be provided in the arm massage unit actuator 3320. The length of expansion and contraction may be preset when the motor of the arm massage unit actuator 3320 rotates once. Thus, the control unit 300 can detect the expansion and contraction length, speed, etc. of the arm massage unit actuator 3320 by using the number of rotations of the motor sensed by the encoder.

[0320] The control unit 300 may have a timer function for obtaining the time of the operation of the massage device 100. The control unit 300 may calculate the moving speed of the arm massage providing unit 3100 using the rotation number of the motor and the time information. Through this, the control unit 300 may align and move the first arm massage providing unit 3100a and the second arm massage providing unit 3100b by synchronizing the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b.

[0321] As described above, the control unit 300 may be controlled such that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in an independent, relative, and / or linked manner with respect to each other. The first arm massage providing unit 3100a and the second arm massage providing unit 3100b may be moved by different arm massage unit actuators 3320. At this time, the rotation number of the motor per unit time may be different for the motors driving each arm massage unit actuator 3320.

[0322] Therefore, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move forward or backward, the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b may be different from each other. The control unit 300 may correct the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b by correcting the rotation numbers of the motors provided in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b. The control unit 300 may be controlled such that when the massage device 100 operates, the deviation of the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b has a value within a preset deviation range.

[0323] The control unit 300 calculates the deviation using the rotation information of the motors of each arm massage unit sensed by the encoder, and controls the rotation speed of the motors of each arm massage unit based on the calculated deviation, thereby controlling the moving speed of the arm massage unit 3000.

[0324] ​ It is a flowchart of an arm massage unit alignment movement algorithm according to an embodiment of the present specification.

[0325] Refer to ​, in step S10, the control unit 300 may set the basic moving speed of the arm massage providing unit 3100. At this time, the basic moving speed may refer to the moving speed at which the first arm massage providing unit 3100a and the second arm massage providing unit 3100b (or the first arm massage unit 3000a and the second arm massage unit 3000b) are aligned with each other and move. In step S11, when the massage device 100 performs a massage action and / or a stretching action, the control unit 300 may control the partial moving speed of the arm massage providing unit 3100.

[0326] Hereinafter, each step will be described in detail.

[0327] Step S10 may be a step performed during the manufacturing process of the massage device 100. During the manufacturing process, the telescopic speeds of the arm massage actuators of the first arm massage unit 3000a and the second arm massage unit 3000b may be different from each other due to various factors such as the motor quality and performance of each arm massage actuator. In other words, the fact that the telescopic speeds of the arm massage actuators of the first arm massage unit 3000a and the second arm massage unit 3000b are different from each other may mean that the rotational speeds of the motors of the arm massage actuators provided in the first arm massage unit 3000a and the second arm massage unit 3000b are different from each other during the manufacturing process. This means that the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b are different from each other and may mean that they will not be aligned with each other and move.

[0328] In step S10, in order to align and move the first arm massage unit 3000a and the second arm massage unit 3000b, the control unit 300 corrects the rotational speed of the motor of the arm massage actuator of at least one of the arm massage units provided in the first arm massage unit 3000a and the second arm massage unit 3000b, thereby synchronizing the rotational speeds of the motors of the first arm massage unit 3000a and the second arm massage unit 3000b. This may mean synchronizing the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b.

[0329] The moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b are synchronized such that the deviation in the moving speeds between the first arm massage providing unit 3100a and the second arm massage providing unit 3100b has a value within a preset deviation range. At this time, in step S10, the moving speed (or the mutually synchronized moving speeds) corrected so that the deviation in the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b has a value within a preset deviation range may correspond to the basic moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b.

[0330] When the control unit 300 controls the moving speeds of the at least one arm massage unit such that the deviation in the moving speeds of the first arm massage unit 3000a (or the first arm massage providing unit 3100a) and the second arm massage unit 3000b (or the second arm massage providing unit 3100b) has a value within a preset deviation range, the moving speeds of the controlled first arm massage unit 3000a and second arm massage unit 3000b may be set as the basic moving speeds. In other words, the control unit 300 may synchronize the moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b by setting the moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b as the basic moving speeds.

[0331] Hereinafter, step S10 will be described in detail.

[0332] According to an embodiment of the present specification, the control unit 300 may calculate a first deviation, which is the deviation in the speeds at which the first arm massage unit 3000a and the second arm massage unit 3000b move in a first direction from one end toward (or move to) the other end, and a second deviation, which is the deviation in the speeds at which they move in a second direction from the other end toward one end.

[0333] In other words, the first direction may be the direction in which each arm massage unit moves from one end of each arm massage unit toward the other end (or the direction in which each arm massage unit moves from the front to the rear of each arm massage unit), and the second direction may be the direction in which each arm massage unit moves from the other end of each arm massage unit toward one end (or the direction in which each arm massage unit moves from the rear to the front of each arm massage unit). That is, the first direction and the second direction may be opposite directions.

[0334] The control unit 300 controls the moving speeds of the arm massage unit 3000 according to each direction by using the first deviation and the second deviation, thereby allowing the first arm massage unit 3000a and the second arm massage unit 3000b to be aligned and moved.

[0335] At this time, the first direction may be the direction in which the arm massage providing unit 3100 moves from the front upper direction to the rear lower direction. The second direction may be the direction in which the arm massage providing unit 3100 moves from the rear lower direction to the front upper direction.

[0336] More specifically, the first direction may be the direction of moving from the front upper side, which is one end of the support part 3200 provided in each arm massage part 3000, to the rear lower side, which is the other end of the support part 3200. The second direction may be the direction of moving from the rear lower side, which is the other end of the support part 3200 provided in each arm massage part 3000, to the front upper side, which is one end of the support part 3200.

[0337] Hereinafter, unless otherwise specified, the front upper side is the front upper side of the support part 3200, and the rear lower side is the rear lower side of the support part 3200.

[0338] The moving speed when the arm massage providing unit 3100 moves in the first direction and the moving speed when it moves in the second direction may be different from each other. The control unit 300 may independently synchronize the moving speeds when the arm massage providing unit 3100 moves in the first direction and the second direction by respectively calculating the deviation of the moving speed in each direction.

[0339] According to an embodiment of the present specification, the massage device 100 may include a memory 330 that stores information related to the first deviation and the second deviation. The control unit 300 may store the first deviation as a first correction value regarding the moving speed when the first arm massage part 3000a and the second arm massage part 3000b move in the first direction in the memory 330. Additionally, the second deviation may be stored as a second correction value regarding the moving speed when the first arm massage part 3000a and the second arm massage part 3000b move in the second direction in the memory 330. The control unit 300 controls the moving speed of at least one of the first arm massage part 3000a and the second arm massage part 3000b by loading the first correction value and the second correction value stored in the memory 330, so as to align and move the first arm massage part 3000a and the second arm massage part 3000b.

[0340] Step S11 may be a step of continuously aligning and moving the first arm massage part 3000a and the second arm massage part 3000b by continuously maintaining the synchronous state of the first arm massage part 3000a and the second arm massage part 3000b as described above.

[0341] In step S11, the control unit 300 may control the partial movement speed of the arm massage unit 3000. Step S11 may be a step in which when the massage device 100 performs any massage action and / or stretching action after the production process, the control unit 300 controls the movement speed of at least one of the first arm massage unit 3000a (or the first arm massage providing unit 3100a) and the second arm massage unit 3000b (or the second arm massage providing unit 3100b).

[0342] According to an embodiment of the present specification, in step S10, when the control unit 300 controls the first arm massage unit 3000a and the second arm massage unit 3000b to move in an action according to any massage mode and / or stretching mode, it may control the first arm massage unit 3000a and the second arm massage unit 3000b to move at the basic movement speed. For example, the control unit 300 controls the movement speed of at least one of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b by loading the first correction value and / or the second correction value from the memory 330, so as to control the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move at the basic movement speed.

[0343] When the control unit 300 controls the arm massage unit 3000 to move at the basic movement speed, the arm massage unit 3000 may deviate from the basic movement speed for various reasons. In other words, the first arm massage unit 3000a and the second arm massage unit 3000b may move out of alignment with each other.

[0344] When the first arm massage unit 3000a and the second arm massage unit 3000b with synchronized movement speeds deviate from the basic movement speed, the control unit 300 may control the movement speeds of the first arm massage unit 3000a and the second arm massage unit 3000b to have values within a preset movement speed range by the above partial movement speed control method.

[0345] For example, when the first arm massage unit 3000a and the second arm massage unit 3000b move at the basic movement speed, the control unit 300 may calculate the partial movement speeds of the first arm massage unit 3000a and the second arm massage unit 3000b according to a preset speed calculation interval. The control unit 300 may control the partial movement speed to have a value within a preset speed range.

[0346] In other words, the control unit 300 may monitor the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b at preset intervals to control the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to have values within a preset moving speed range. At this time, the moving speeds monitored at preset intervals may correspond to the partial moving speeds.

[0347] Hereinafter, each step will be described in more detail.

[0348] ​ is a flowchart of basic moving speed setting according to an embodiment of the present specification, ​ is a diagram showing a process of calculating a first deviation according to an embodiment of the present specification, ​ is a diagram showing a process of calculating a first deviation according to another embodiment of the present specification, ​ is a diagram showing a process of calculating a first deviation according to still another embodiment of the present specification, ​ is a diagram showing an example of counting the rotation values of the arm massage unit actuator motor when the first arm massage unit and the second arm massage unit move in the first direction.

[0349] Referring to ​ , in step S10-1, the control unit 300 may calculate the first deviation. The control unit 300 may calculate the first deviation when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move from the uppermost front in the first direction to the lowermost rear (or from the front to the rear).

[0350] Referring to ​ , the control unit 300 may calculate the moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b from a preset start time point to a preset end time point.

[0351] For example, the control unit 300 may control the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move in the first direction. The control unit 300 may control the arm massage providing unit 3100 to move from the uppermost front ( ​ at A) to the lowermost rear ( ​ at B). When the arm massage providing unit 3100 is at the uppermost front, the arm massage unit actuator 3320 may be in an unextended state. When the arm massage providing unit 3100 is at the lowermost rear, the arm massage unit actuator 3320 may be in a maximum extended state.

[0352] When the arm massage providing unit 3100 moves from the most front-upper position to the most rear-lower position, the control unit 300 may calculate the first deviation within a preset time period.

[0353] As an example, the time taken for the arm massage providing unit 3100 to move from the most front-upper position to the most rear-lower position may be within 20 seconds. The interval within 5 seconds from the start of the movement of the arm massage providing unit 3100 ( ​ the interval between A and C) may correspond to the acceleration interval of the arm massage providing unit 3100. When the arm massage providing unit 3100 moves within the interval between 5 seconds and 10 seconds ( ​ the C to D interval), the arm massage providing unit 3100 may move backward and downward at a constant speed within a preset error range. When the arm massage providing unit 3100 moves within the interval between 10 seconds and 20 seconds ( ​ the D to B interval), the arm massage providing unit 3100 may decelerate.

[0354] The moving speed of the arm massage providing unit 3100 may vary irregularly in the acceleration interval and the deceleration interval of the arm massage providing unit 3100. In addition, the acceleration and / or deceleration degrees of the arm massage unit actuators 3320 of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b may be different from each other. Therefore, when calculating the first deviation using the average moving speed of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b including the moving speed in the acceleration interval and the deceleration interval, it may be difficult to synchronize the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b.

[0355] The control unit 300 may calculate the first deviation using the average moving speed of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b when they move in the C to D interval. In the C to D interval, the first arm massage providing unit 3100a and the second arm massage providing unit 3100b may move at a more constant speed than in the acceleration interval and the deceleration interval. Therefore, the control unit 300 may calculate the first deviation more accurately. In other words, the first deviation may be the deviation between the moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b when the first arm massage unit 3000a and the second arm massage unit 3000b moving in the first direction move at a constant speed.

[0356] Specifically, when the arm massage providing unit 3100 moves in the first direction, the control unit 300 may obtain the rotation number of the motor from the encoder. The control unit 300 may calculate the extended length of the arm massage unit actuator 3320 using the rotation number of the motor obtained in the C to D interval. The speed at which the arm massage unit actuator 3320 extends may correspond to the speed at which the arm massage providing unit 3100 moves. The control unit 300 calculates the moving speed of each arm massage providing unit 3100 by using the time for the arm massage providing unit 3100 to move in the C to D interval and the length by which the arm massage unit actuator extends in the C to D interval, and may calculate the first deviation.

[0357] At this time, the control unit 300 may extract the moving distances of the first arm massage unit 3000a and the second arm massage unit 3000b at preset time intervals in the interval where the first arm massage unit 3000a and the second arm massage unit 3000b move in the first direction at a constant speed to calculate the moving speed of each arm massage unit.

[0358] As an example, the control unit 300 may obtain the rotation number of the motor of the arm massage unit actuator 3320 from the encoder at 1-second intervals. When each arm massage providing unit 3100 moves in the C to D interval, the control unit 300 may obtain the rotation number of the motor from the encoder at 1-second intervals.

[0359] For example, the rotation number of the motor obtained between 5 seconds and 6 seconds after the first arm massage providing unit 3100a starts to move may be 45 times, the rotation number of the motor obtained between 6 seconds and 7 seconds may be 46 times, the rotation number of the motor obtained between 7 seconds and 8 seconds may be 44 times, the rotation number of the motor obtained between 8 seconds and 9 seconds may be 45 times, and the rotation number of the motor obtained between 9 seconds and 10 seconds may be 44 times. The rotation number of the motor obtained between 5 seconds and 6 seconds after the second arm massage providing unit 3100b starts to move may be 42 times, the rotation number of the motor obtained between 6 seconds and 7 seconds may be 42 times, the rotation number of the motor obtained between 7 seconds and 8 seconds may be 41 times, the rotation number of the motor obtained between 8 seconds and 9 seconds may be 42 times, and the rotation number of the motor obtained between 9 seconds and 10 seconds may be 41 times.

[0360] The total rotation number of the motor when the first arm massage providing unit 3100a moves in the C to D interval may be 224 times, and the total rotation number of the motor when the second arm massage providing unit 3100b moves in the C to D interval may be 208 times.

[0361] The first deviation may correspond to the difference in the total number of rotations of the motor when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the C to D interval. In this case, the first deviation may correspond to 16 times. This corresponds to an example and is not limited by the values of the number of rotations of the motor obtained by the control unit 300 and the calculated first deviation.

[0362] The moving time of the arm massage providing unit 3100 described above, the time points according to each interval, and the time intervals for obtaining the number of rotations of the motor from the encoder correspond to an example and are not limited by the time. In addition, the time taken for the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move from the front uppermost position to the rear lowermost position may be different from each other, so the intervals for calculating the moving speed may also be different from each other.

[0363] Refer to ​ , the control unit 300 may calculate the moving speed of the first arm massage unit 3000a and the second arm massage unit 3000b moving in a preset moving interval.

[0364] When the arm massage providing unit 3100 is at the front uppermost position ( ​ A), the arm massage unit actuator 3320 may be in an unextended state. When the arm massage providing unit 3100 is at the rear lowermost position ( ​ B), the arm massage unit actuator 3320 may be in a state of being extended by 180 mm.

[0365] When the arm massage providing unit 3100 moves in the first direction, the control unit 300 may obtain the number of rotations of the motor from the encoder. The control unit 300 may calculate the length by which the arm massage unit actuator 3320 extends by using the obtained number of rotations of the motor. The control unit 300 may calculate the speed at which the arm massage unit actuator 3320 extends from the state of extending by the first length ( ​ E) to the state of extending by the second length ( ​ F). When the arm massage unit actuator 3320 changes from the state of extending by the first length to the state of extending by the second length, the arm massage providing unit 3100 may move a preset moving interval. At this time, the speed at which the arm massage unit actuator 3320 extends may correspond to the speed at which the arm massage providing unit 3100 moves.

[0366] As an example, the state in which the arm massage unit actuator 3320 extends the first length may correspond to a state in which it extends 45 mm based on the state in which the arm massage unit actuator 3320 is not extended. The state in which the arm massage unit actuator 3320 extends the second length may correspond to a state in which it extends 45 mm further in the state in which the arm massage unit actuator 3320 extends the first length. The state from the state before the arm massage unit actuator 3320 extends to the state in which it extends 45 mm may correspond to the first section in which the arm massage providing unit 3100 accelerates. The state from the state in which the arm massage unit actuator 3320 extends the first length to the state in which it extends the second length may correspond to the second section in which the arm massage providing unit 3100 moves at a constant speed within a preset error range. The state from the state in which the arm massage unit actuator 3320 extends the second length to the state in which it extends 180 mm may correspond to the third section in which the arm massage providing unit 3100 decelerates.

[0367] The control unit 300 may calculate the first deviation by calculating the average moving speed of each of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b when they move in the second section.

[0368] The control unit 300 may calculate the average moving speed of each arm massage providing unit 3100 in the second section by using the length of the second section and the time information of each arm massage providing unit 3100 moving in the second section. The control unit 300 may calculate the first deviation by using the difference between the average moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b. The maximum length to which the arm massage unit actuator 3320 extends and the preset moving section correspond to an example and are not limited by the length and section.

[0369] Refer to ​ and ​ , the control unit 300 may calculate the moving speed by extracting the moving distances of the first arm massage unit 3000a and the second arm massage unit 3000b at preset time intervals from a preset start time point to a preset end time point within a preset moving section.

[0370] As an example, when the arm massage providing unit 3100 moves in the first direction, when the control unit 300 changes from the state in which the arm massage unit actuator 3320 extends the first length ( ​ of E) to the state in which it extends the second length ( ​When in state F), the arm massage providing unit 3100 can move within a preset range. The state where the arm massage unit actuator 3320 extends the first length can correspond to the state of extending 45 mm based on the state where the arm massage unit actuator 3320 is not extended. The state where the arm massage unit actuator 3320 extends the second length can correspond to the state of extending 90 mm based on the state where the arm massage unit actuator 3320 is not extended.

[0371] The state from when the arm massage unit actuator 3320 is not extended to when it extends 45 mm can correspond to the first range where the arm massage providing unit 3100 accelerates. The state from when the arm massage unit actuator 3320 extends the first length to when it extends the second length can correspond to the second range where the arm massage providing unit 3100 moves at a constant speed within a preset error range. The state from when the arm massage unit actuator 3320 extends the second length to when it extends 180 mm can correspond to the third range where the arm massage providing unit 3100 decelerates. The control unit 300 can calculate the moving speed of the arm massage providing unit 3100 when the arm massage providing unit 3100 moves within the second range.

[0372] When the arm massage providing unit 3100 moves within the second range, the control unit 300 can extract the moving distance of the arm massage providing unit 3100 by using the number of rotations of the motor sensed by the encoder for 5 seconds. At this time, the control unit 300 can obtain the number of rotations of the motor from the encoder at 1 - second intervals. The control unit 300 can calculate the moving distance of the arm massage providing unit 3100 and calculate the moving speed by using the number of rotations of the motor obtained at 1 - second intervals.

[0373] The maximum length that the arm massage unit actuator 3320 extends, the preset moving range, the preset start time point, end time point, and time interval are an example and are not limited thereto.

[0374] When the first arm massage unit 3000a and the second arm massage unit 3000b move within the second range, the control unit 300 can obtain the number of rotations of the motor from the encoders of each arm massage unit actuator 3320. When the first arm massage unit 3000a and the second arm massage unit 3000b move within the second range, the control unit 300 can obtain the number of rotations of the motor at 1 - second intervals for 5 seconds. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move within the second range, the control unit 300 can obtain the number of rotations of the motor at 1 - second intervals for 5 seconds.

[0375] When the first arm massage providing unit 3100a moves in the second section, the number of rotations of the motor provided in the arm massage unit actuator 3320 measured in the first 1 second may be 45 times, the number of rotations of the motor measured in the next 1 second may be 46 times, the number of rotations of the motor measured in the next 1 second may be 44 times, the number of rotations of the motor measured in the next 1 second may be 45 times, and the number of rotations of the motor measured in the next 1 second may be 44 times. When the first arm massage providing unit 3100a moves in the second section, the number of rotations of the motor measured within 5 seconds may be a total of 224 times.

[0376] When the second arm massage providing unit 3100b moves in the second section, the number of rotations of the motor provided in the arm massage unit actuator 3320 measured in the first 1 second may be 42 times, the number of rotations of the motor measured in the next 1 second may be 42 times, the number of rotations of the motor measured in the next 1 second may be 41 times, the number of rotations of the motor measured in the next 1 second may be 42 times, and the number of rotations of the motor measured in the next 1 second may be 41 times. When the second arm massage providing unit 3100b moves in the second section, the number of rotations of the motor measured within 5 seconds may be a total of 208 times.

[0377] The first deviation calculated when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second section may correspond to the difference in the number of rotations of the motors of the arm massage unit actuators 3320 provided in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b. In this case, the first deviation may correspond to 16. This corresponds to an example and is not limited by the numerical values of the number of rotations of the motors acquired by the control unit 300 and the calculated first deviation.

[0378] In step S10-2, the control unit 300 may store the first deviation as a first correction value regarding the moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b when moving in the first direction in the memory 330. The first correction value (or the first deviation) may be a control value used to correct the moving speeds of at least one of the first arm massage unit 3000a and the second arm massage unit 3000b in order to align the moving first arm massage unit 3000a and the second arm massage unit 3000b in the first direction.

[0379] In step S10-3, the control unit 300 may calculate the second deviation. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move from the lowermost rear to the uppermost front, the control unit 300 may calculate the second deviation.

[0380] ​ is a diagram showing the process of calculating a second deviation in an embodiment of this specification. ​ is a diagram showing the process of calculating a second deviation in another embodiment of this specification. ​ is a diagram showing the process of calculating a second deviation in yet another embodiment of this specification. ​ is a diagram showing an example of counting the rotation value of the actuator motor of the arm massage unit when the first arm massage unit and the second arm massage unit move in the second direction.

[0381] Referring to ​ , the control unit 300 may calculate the moving speed of the first arm massage unit 3000a and the second arm massage unit 3000b from a preset start time point to a preset end time point.

[0382] The control unit 300 may control the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move in the second direction. The control unit 300 may control the arm massage providing unit 3100 to move from the lowermost rear ( ​ B) to the uppermost front ( ​ A). The rotation direction of the motor when each arm massage providing unit 3100 moves in the second direction may be opposite to the rotation direction of the motor when moving in the first direction.

[0383] When the arm massage providing unit 3100 moves from the lowermost rear to the uppermost front, the control unit 300 may calculate the second deviation within a preset time interval.

[0384] As an example, the time taken for the arm massage providing unit 3100 to move from the lowermost rear to the uppermost front may be within 20 seconds. The interval within 5 seconds from the start of the movement of the arm massage providing unit 3100 ( ​ the interval between B and D) may correspond to the acceleration interval of the arm massage providing unit 3100. When the arm massage providing unit 3100 moves in the interval between 5 seconds and 10 seconds ( ​ the D to C interval), the arm massage providing unit 3100 may move forward and upward at a constant speed within a preset error range. When the arm massage providing unit 3100 moves in the interval between 10 seconds and 20 seconds ( ​ the C to A interval), the arm massage providing unit 3100 may decelerate.

[0385] The moving speed of the arm massage providing unit 3100 can vary irregularly in the accelerating section and the decelerating section of the arm massage providing unit 3100. In addition, the acceleration and / or deceleration degrees of the arm massage unit actuators 3320 of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b can be different from each other. Therefore, when calculating the second deviation using the average moving speed of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b that includes the moving speed in the accelerating section and the decelerating section, it may be difficult to synchronize the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b.

[0386] The control unit 300 can calculate the second deviation using the average moving speed of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b when moving in the D to C section. In the D to C section, the first arm massage providing unit 3100a and the second arm massage providing unit 3100b can move at a more constant speed than in the accelerating section and the decelerating section. Therefore, the control unit 300 can calculate the second deviation more accurately. In other words, the second deviation can be the deviation between the moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b in the section where the first arm massage unit 3000a and the second arm massage unit 3000b moving in the second direction move at a constant speed.

[0387] Specifically, when the arm massage providing unit 3100 moves in the second direction, the control unit 300 can obtain the rotation number of the motor from the encoder. The control unit 300 can calculate the length by which the arm massage unit actuator 3320 contracts using the rotation number of the motor obtained in the D to C section. The contraction speed of the arm massage unit actuator 3320 can correspond to the moving speed of the arm massage providing unit 3100. The control unit 300 calculates the moving speed of each arm massage providing unit 3100 by using the time when the arm massage providing unit 3100 moves in the D to C section and the length by which the arm massage unit actuator contracts in the D to C section, and can calculate the second deviation.

[0388] At this time, the control unit 300 can extract the moving distances of the first arm massage unit 3000a and the second arm massage unit 3000b at preset time intervals in the section where the first arm massage unit 3000a and the second arm massage unit 3000b move in the second direction at a constant speed to calculate the moving speed of each arm massage unit.

[0389] As an example, the control unit 300 may obtain the rotation speed of the motor of the arm massage unit actuator 3320 from the encoder at 1-second intervals. When each arm massage providing unit 3100 moves in the D to C interval, the control unit 300 may obtain the rotation speed of the motor from the encoder at 1-second intervals.

[0390] For example, the rotation speed of the motor obtained between 5 seconds and 6 seconds after the first arm massage providing unit 3100a starts moving may be 43 times, the rotation speed of the motor obtained between 6 seconds and 7 seconds may be 42 times, the rotation speed of the motor obtained between 7 seconds and 8 seconds may be 43 times, the rotation speed of the motor obtained between 8 seconds and 9 seconds may be 44 times, and the rotation speed of the motor obtained between 9 seconds and 10 seconds may be 43 times. The rotation speed of the motor obtained between 5 seconds and 6 seconds after the second arm massage providing unit 3100b starts moving may be 41 times, the rotation speed of the motor obtained between 6 seconds and 7 seconds may be 41 times, the rotation speed of the motor obtained between 7 seconds and 8 seconds may be 41 times, the rotation speed of the motor obtained between 8 seconds and 9 seconds may be 42 times, and the rotation speed of the motor obtained between 9 seconds and 10 seconds may be 41 times.

[0391] The total rotation speed of the motor when the first arm massage providing unit 3100a moves in the D to C interval may be 215 times, and the total rotation speed of the motor when the second arm massage providing unit 3100b moves in the D to C interval may be 206 times. The second deviation may correspond to the difference in the total rotation speed of the motors when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the D to C interval. In this case, the second deviation may correspond to 9 times. This corresponds to an example and is not limited by the values of the rotation speed of the motor obtained by the control unit 300 and the calculated second deviation.

[0392] The moving time of the arm massage providing unit 3100 described above, the time points according to each interval, and the time interval for obtaining the rotation speed of the motor from the encoder correspond to an example and are not limited by the time. In addition, the time taken for the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move from the last lower position to the foremost upper position may be different from each other, so the intervals for calculating the moving speed may also be different from each other.

[0393] Refer to ​ , the control unit 300 may calculate the moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b when moving in a preset moving interval.

[0394] When the arm massage providing unit 3100 is located at the last lower position ( ​In the case of B), the arm massage unit actuator 3320 may be in a state of being extended by 180 mm. When the arm massage providing unit 3100 is located at the most forward upper position ( ​ In the case of A), the arm massage unit actuator 3320 may be in a non-extended state.

[0395] When the arm massage providing unit 3100 moves in the second direction, the control unit 300 may obtain the rotation speed of the motor from the encoder. The control unit 300 may calculate the length by which the arm massage unit actuator 3320 contracts by using the obtained rotation speed of the motor. The rotation direction of the motor when the arm massage providing unit 3100 moves in the second direction may be opposite to the rotation direction of the motor when it moves in the first direction. The control unit 300 may calculate the speed at which the arm massage unit actuator 3320 contracts from the state of contracting the first' length ( ​ In F) to the state of contracting the second' length ( ​ In E). The change of the arm massage unit actuator 3320 from the state of contracting the first' length to the state of contracting the second' length may correspond to the time point when the arm massage providing unit 3100 moves in a preset moving interval. At this time, the speed at which the arm massage unit actuator 3320 contracts may correspond to the speed at which the arm massage providing unit 3100 moves.

[0396] As an example, the state in which the arm massage unit actuator 3320 contracts the first' length may correspond to a state of contracting 90 mm based on the state in which the arm massage unit actuator 3320 is extended by 180 mm. The state in which the arm massage unit actuator 3320 contracts the second' length may correspond to a state of contracting 45 mm based on the state in which the arm massage unit actuator 3320 contracts the first' length. The state from the state in which the arm massage unit actuator 3320 is extended by 180 mm to the state of contracting 90 mm may correspond to the first' interval in which the arm massage providing unit 3100 accelerates. The state from the state in which the arm massage unit actuator 3320 contracts the first' length to the state of contracting the second' length may correspond to the second' interval in which the arm massage providing unit 3100 moves at a constant speed within a preset error range. The state from the state in which the arm massage unit actuator 3320 contracts the second' length to the non-extended state may correspond to the third' interval in which the arm massage providing unit 3100 decelerates.

[0397] The control unit 300 may calculate the second deviation by calculating the average moving speed of each of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b when they move in the second' interval.

[0398] The control unit 300 may calculate the average moving speed of each arm massage providing unit 3100 in the second' interval by using the length of the second' interval and the time information of the movement of each arm massage providing unit 3100 in the second' interval. The control unit 300 may calculate the second deviation by using the difference between the average moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b.

[0399] The elongation and / or contraction of the length of the arm massage unit actuator 3320 corresponding to a preset movement interval is an example and is not limited by the length and interval.

[0400] Refer to ​ and ​ , the control unit 300 may calculate the moving speed by extracting the moving distances of the first arm massage unit 3000a and the second arm massage unit 3000b at preset time intervals from a preset start time point to a preset end time point in a preset movement interval.

[0401] As an example, when the arm massage providing unit 3100 moves in the second direction, the control unit 300 changes from the state where the arm massage unit actuator 3320 contracts the first' length ( ​ F) to the state where it contracts the second' length ( ​ E), which may correspond to the time point when the arm massage providing unit 3100 moves a preset interval. The state where the arm massage unit actuator 3320 contracts the first' length may correspond to the time point when it contracts 90 mm based on the state where the arm massage unit actuator 3320 elongates 180 mm. The state where the arm massage unit actuator 3320 contracts the second' length may correspond to the state where it contracts 45 mm based on the state where the arm massage unit actuator 3320 contracts the first' length.

[0402] The state from the arm massage unit actuator 3320 elongating 180 mm to contracting 90 mm may correspond to the first' interval in which the arm massage providing unit 3100 accelerates. The state from the arm massage unit actuator 3320 contracting the first' length to contracting the second' length may correspond to the second' interval in which the arm massage providing unit 3100 moves at a constant speed within a preset error range. The state from the arm massage unit actuator 3320 contracting the second' length to the non-elongated state may correspond to the third interval in which the arm massage providing unit 3100 decelerates. The control unit 300 may calculate the moving speed of the arm massage providing unit 3100 when the arm massage providing unit 3100 moves in the second' interval.

[0403] When the arm massage providing unit 3100 moves in the second' interval, the control unit 300 may extract the moving distance of the arm massage providing unit 3100 by using the number of rotations of the motor sensed by the encoder for 5 seconds. At this time, the control unit 300 may obtain the number of rotations of the motor from the encoder at 1-second intervals. The control unit 300 may calculate the moving distance of the arm massage providing unit 3100 and calculate the moving speed by using the number of rotations of the motor obtained at 1-second intervals.

[0404] The elongation and / or contraction length, preset moving interval, preset start time point, end time point, and time interval of the arm massage unit actuator 3320 correspond to an example and are not limited thereto.

[0405] When the first arm massage unit 3000a and the second arm massage unit 3000b move in the second' interval, the control unit 300 may obtain the number of rotations of the motor from the encoders of each arm massage unit actuator 3320. When the first arm massage unit 3000a and the second arm massage unit 3000b move in the second' interval, the control unit 300 may obtain the number of rotations of the motor at 1-second intervals for 5 seconds. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second' interval, the control unit 300 may obtain the number of rotations of the motor at 1-second intervals for 5 seconds.

[0406] When the first arm massage providing unit 3100a moves in the second' interval, the number of rotations of the motor provided in the arm massage unit actuator 3320 measured in the first 1 second may be 43 times, the number of rotations of the motor measured in the next 1 second may be 42 times, the number of rotations of the motor measured in the next 1 second may be 43 times, the number of rotations of the motor measured in the next 1 second may be 44 times, and the number of rotations of the motor measured in the next 1 second may be 43 times. When the first arm massage providing unit 3100a moves in the second' interval, the number of rotations of the motor measured within 5 seconds may be a total of 215 times.

[0407] When the second arm massage providing unit 3100b moves within the second' interval, the number of rotations of the motor of the arm massage unit actuator 3320 measured in the first 1 second can be 41 times, the number of rotations of the motor measured in the next 1 second can be 41 times, the number of rotations of the motor measured in the next 1 second can be 41 times, the number of rotations of the motor measured in the next 1 second can be 42 times, and the number of rotations of the motor measured in the next 1 second can be 41 times. When the second arm massage providing unit 3100b moves within the second' interval, the number of rotations of the motor measured within 5 seconds can be a total of 206 times. The second deviation calculated when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move within the second' interval can correspond to the difference in the number of rotations of the motors of the arm massage unit actuators 3320 provided in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b. In this case, the second deviation can correspond to 9. This corresponds to an example and is not limited by the numerical values of the number of rotations of the motors obtained by the control unit 300 and the calculated second deviation.

[0408] In step S10-4, the control unit 300 may store the second deviation as a second correction value regarding the moving speed when the first arm massage unit 3000a and the second arm massage unit 3000b move in the second direction in the memory 330. The second correction value (or the second deviation) may be a control value used to correct the moving speed of at least one of the first arm massage unit 3000a and the second arm massage unit 3000b so as to align the movement of the first arm massage unit 3000a and the second arm massage unit 3000b in the second direction.

[0409] In step S10-5, the control unit 300 controls the moving speed of at least one of the first arm massage unit 3000a and the second arm massage unit 3000b by loading at least one of the first correction value and the second correction value stored in the memory 330.

[0410] According to an embodiment of the present specification, the control unit 300 may control the moving speed of the arm massage providing unit 3100 by using the PID control (Proportional Integral Derivation Control) method. The control unit 300 may control the rotational speed of the motor of the arm massage unit actuator 3320 by using the PID control method.

[0411] The control unit 300 can control the rotational speed of the motor of the arm massage unit actuator 3320 by modulating the pulse width of the output voltage of the arm massage unit actuator 3320 through Pulse Width Modulation (PWM). The control unit 300 can control the moving speed of the arm massage providing unit 3100 by controlling the rotational speed of the motor of the arm massage unit actuator 3320. Since the technique of using PWM to control the rotational speed of a motor is well-known to those of ordinary skill in the art, a detailed description thereof is omitted.

[0412] Hereinafter, the state in which the output voltage for driving the arm massage unit actuator 3320 is not applied to the arm massage unit actuator 3320 is defined as the "PWM 0%" state. Additionally, the state in which the output voltage for driving the arm massage unit actuator 3320 is applied to the arm massage unit actuator 3320 and the motor of the arm massage unit actuator 3320 rotates at the maximum speed of its performance is defined as the "PWM 100%" state. The arm massage unit actuator 3320 can have any state from "PWM 0% to 100%" according to the rotational speed of the motor. The "PWM 0%" may mean that the duty ratio of the output voltage is 0%. The "PWM 100%" may mean that the duty ratio of the output voltage is 100%. The duty ratio of the output voltage can have any value from 0% to 100%. When the duty ratio of the output voltage is 100%, the arm massage unit 3000 can move at the maximum speed. The moving speed of the arm massage unit 3000 can be proportional to the duty ratio.

[0413] In addition, when the motor rotates to extend the arm massage unit actuator 3320 (when the arm massage providing unit moves in the first direction), it is defined that the motor rotates in the forward direction. When the motor rotates to contract the arm massage unit actuator 3320 (when the arm massage providing unit moves in the second direction), it is defined that the motor rotates in the reverse direction. According to the rotational direction of the motor, the arm massage unit actuator 3320 can have any state from "PWM 0% to 100%" in the forward direction and any state from "PWM 0% to 100%" in the reverse direction. This corresponds to an example and is not limited by the definition.

[0414] The control unit 300 can control the moving speed of at least one arm massage unit 3000 by modulating the duty ratio of the output voltage applied to the motor through PWM control.

[0415] According to an embodiment of the present specification, when the first arm massage unit 3000a and the second arm massage unit 3000b move in the first direction, the control unit 300 can control the arm massage unit with a relatively faster moving speed among the first arm massage unit 3000a and the second arm massage unit 3000b to move slowly by the same degree as the first correction value. Preferably, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 can control the arm massage unit with a relatively faster moving speed among the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move slowly by the same degree as the first correction value.

[0416] When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second interval, the control unit 300 can obtain the rotation speed of the motor of the arm massage unit actuator 3320 provided in each arm massage providing unit. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 can control the rotation speed of the motor of the arm massage unit actuator 3320 with a relatively larger rotation speed among the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to rotate less by the same degree as the second correction value.

[0417] In addition, when the first arm massage unit 3000a and the second arm massage unit 3000b move in the second direction, the control unit 300 can control the arm massage unit with a relatively faster moving speed among the first arm massage unit 3000a and the second arm massage unit 3000b to move slowly by the same degree as the second correction value. Preferably, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the control unit 300 can control the arm massage unit with a relatively faster moving speed among the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move slowly by the same degree as the second correction value.

[0418] When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second' interval, the control unit 300 can obtain the rotation numbers of the motors of the arm massage unit actuators 3320 provided in each arm massage providing unit. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the control unit 300 can control the motor of the arm massage unit actuator 3320 with a relatively larger rotation number among the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to rotate less by the same degree as the second correction value.

[0419] As an example, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the rotation number of the motor of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a obtained by the control unit 300 can be 224, and the rotation number of the motor of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b can be 208. At this time, the first correction value can be calculated as 16. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 can control the motor of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a to rotate 16 times less.

[0420] More specifically, the control unit 300 can apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction. At this time, the control unit 300 can apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the motors of the arm massage unit actuators 3320 provided in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b rotate in any state from "PWM100%" to "PWM0%" in the positive direction. The control unit 300 can apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction in any state from "PWM100%" to "PWM0%" in the positive direction. Preferably, the control unit 300 can apply an output voltage to each arm massage unit 3000 so that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction in the "PWM100%" state in the positive direction.

[0421] As described above, when the rotation speed of the motor of the arm massage actuator 3320 provided in the first arm massage providing unit 3100a is relatively greater than the rotation speed of the motor of the arm massage actuator 3320 provided in the second arm massage providing unit 3100b, the control unit 300 may reduce the duty ratio of the output voltage applied to the first arm massage unit 3000a. The control unit 300 may reduce the duty ratio of the output voltage applied to the first arm massage unit 3000a according to the first correction value. When the first correction value is n (natural number), the control unit 300 may reduce the duty ratio of the output voltage by n%.

[0422] As an example, when the first correction value is 16, the control unit 300 may reduce the duty ratio of the output voltage applied to the first arm massage unit 3000a by 16%. Therefore, the first arm massage providing unit 3100a may move in the first direction in a positive "PWM84%" state. The proportion by which the duty ratio decreases according to the magnitude of the correction value corresponds to an example and is not limited thereto.

[0423] At this time, the control unit 300 may adjust the duty ratio of the output voltage within a preset range. For example, the control unit 300 may adjust the duty ratio to within 10%. When the first correction value has a value between 0 and 10, the control unit 300 may reduce the duty ratio of the output voltage applied to the first arm massage unit 3000a corresponding to the first correction value by 0% to 10%. When the first correction value is 10 or more, the control unit 300 may reduce the duty ratio of the output voltage applied to the first arm massage unit 3000a by 10%. For example, when the first correction value is 16, the control unit 300 may reduce the duty ratio of the output voltage applied to the first arm massage unit 3000a by 10%. At this time, the first arm massage providing unit 3100a may move in the first direction in a positive "PWM90%" state. The proportion by which the duty ratio decreases according to the magnitude of the correction value and the range for adjusting the duty ratio correspond to an example and are not limited thereto.

[0424] In addition, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the rotation speed of the motor of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a obtained by the control unit 300 may be 215, and the rotation speed of the motor of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b may be 206. At this time, the second correction value may be calculated as 9. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the control unit 300 may control the motor of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a to rotate 9 times less.

[0425] More specifically, the control unit 300 may apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction. At this time, the control unit 300 may apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the motors of the arm massage unit actuators 3320 provided in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b rotate in any state from reverse "PWM100%" to "PWM0%". The control unit 300 may apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction in any state from reverse "PWM100%" to "PWM0%". Preferably, the control unit 300 may apply an output voltage to each arm massage unit 3000 so that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction in a reverse "PWM100%" state.

[0426] As described above, when the rotation speed of the motor of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a is relatively greater than the rotation speed of the motor of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b, the control unit 300 may reduce the duty ratio of the output voltage applied to the first arm massage unit 3000a. The control unit 300 may reduce the duty ratio of the output voltage applied to the first arm massage unit 3000a according to the second correction value. When the second correction value is n, the control unit 300 may reduce the duty ratio of the output voltage by n%.

[0427] As an example, when the second correction value is 9, the control unit 300 may reduce the duty ratio of the output voltage applied to the first arm massage unit 3000a by 9%. Therefore, the first arm massage providing unit 3100a may move in the first direction in a reverse "PWM 91%" state. The ratio by which the duty ratio decreases according to the magnitude of the correction value corresponds to an example and is not limited thereto.

[0428] At this time, the control unit 300 may adjust the duty ratio of the output voltage within a preset range. For example, the control unit 300 may adjust the duty ratio to within 10%. When the second correction value has a value between 0 and 10, the control unit 300 may reduce the duty ratio of the output voltage applied to the first arm massage unit 3000a by 0% to 10% corresponding to the second correction value. When the second correction value is 10 or more, the control unit 300 may reduce the duty ratio of the output voltage applied to the first arm massage unit 3000a by 10%. For example, when the second correction value is 16, the control unit 300 may reduce the duty ratio of the output voltage applied to the first arm massage unit 3000a by 10%. At this time, the first arm massage providing unit 3100a may move in the second direction in a reverse "PWM 90%" state. The ratio by which the duty ratio decreases according to the magnitude of the correction value and the range for adjusting the duty ratio correspond to an example and are not limited thereto.

[0429] According to another embodiment of the present specification, when the first arm massage unit 3000a and the second arm massage unit 3000b move in the first direction, the control unit 300 may control the arm massage unit with a relatively slower moving speed among the first arm massage unit 3000a and the second arm massage unit 3000b to move faster by the same degree as the first correction value. Preferably, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 may control the arm massage providing unit with a relatively slower moving speed among the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move faster by the same degree as the first correction value.

[0430] When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second interval, the control unit 300 can obtain the rotation number of the motor of the arm massage unit actuator 3320 provided in each arm massage providing unit. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 can control the rotation number of the motor of the arm massage unit actuator 3320 with a relatively smaller rotation number among the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to rotate more by the same degree as the first correction value.

[0431] In addition, when the first arm massage unit 3000a and the second arm massage unit 3000b move in the second direction, the control unit 300 can control the faster movement of the arm massage unit with a relatively slower movement speed among the first arm massage unit 3000a and the second arm massage unit 3000b to be the same degree as the second correction value. Preferably, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the control unit 300 can control the faster movement of the arm massage unit with a relatively slower movement speed among the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to be the same degree as the second correction value.

[0432] When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second' interval, the control unit 300 can obtain the rotation number of the motor of the arm massage unit actuator 3320 provided in each arm massage providing unit. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the control unit 300 can control the rotation number of the motor of the arm massage unit actuator 3320 with a relatively smaller rotation number among the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to rotate more by the same degree as the second correction value.

[0433] As an example, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the rotation speed of the motor of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a obtained by the control unit 300 may be 224, and the rotation speed of the motor of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b may be 208. In this case, the first correction value may be calculated as 16. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 may control the motor of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b to rotate 16 more times.

[0434] More specifically, the control unit 300 may apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction. At this time, the control unit 300 may apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the motors of the arm massage unit actuators 3320 provided in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b rotate in any state from "PWM100%" to "PWM0%" in the positive direction. The control unit 300 may apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction in any state from "PWM100%" to "PWM0%" in the positive direction.

[0435] As described above, when the rotation speed of the motor of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a is relatively greater than the rotation speed of the motor of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b, the control unit 300 may increase the duty ratio of the output voltage applied to the second arm massage unit 3000b. The control unit 300 may increase the duty ratio of the output voltage applied to the second arm massage unit 3000b according to the first correction value. When the first correction value is n (natural number), the control unit 300 may increase the duty ratio of the output voltage by n%.

[0436] As an example, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction in a positive "PWM 80%" state, the first correction value can be calculated as 16. At this time, the control unit 300 can increase the duty ratio of the output voltage applied to the second arm massage unit 3000b by 16%. Therefore, the second arm massage providing unit 3100b can move in the first direction in a positive "PWM 96%" state. The ratio at which the duty ratio increases according to the magnitude of the correction value corresponds to an example and is not limited thereto.

[0437] At this time, the control unit 300 can adjust the duty ratio of the output voltage within a preset range. For example, the control unit 300 can adjust the duty ratio to within 10%. When the first correction value has a value between 0 and 10, the control unit 300 can increase the duty ratio of the output voltage applied to the second arm massage unit 3000b by 0% to 10% corresponding to the first correction value. When the first correction value is 10 or more, the control unit 300 can increase the duty ratio of the output voltage applied to the second arm massage unit 3000b by 10%. For example, when the first correction value is 16, the control unit 300 can increase the duty ratio of the output voltage applied to the second arm massage unit 3000b by 10%. At this time, the second arm massage providing unit 3100b can move in the first direction in a positive "PWM 90%" state. The ratio at which the duty ratio increases according to the magnitude of the correction value and the range for adjusting the duty ratio correspond to an example and are not limited thereto.

[0438] In addition, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the rotation speed of the motor of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a obtained by the control unit 300 can be 215, and the rotation speed of the motor of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b can be 206. In this case, the second correction value can be calculated as 9. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the control unit 300 can control the motor of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b to rotate 9 more times.

[0439] More specifically, the control unit 300 may apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b, such that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction. At this time, the control unit 300 may apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b, such that the motors of the arm massage unit actuators 3320 provided in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b rotate in any state from reverse "PWM100%" to "PWM0%". The control unit 300 may apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b, such that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction in any state from reverse "PWM100%" to "PWM0%".

[0440] As described above, when the rotation speed of the motor of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a is relatively greater than the rotation speed of the motor of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b, the control unit 300 may increase the duty ratio of the output voltage applied to the second arm massage unit 3000b. The control unit 300 may increase the duty ratio of the output voltage applied to the second arm massage unit 3000b according to the second correction value. When the second correction value is n (natural number), the control unit 300 may increase the duty ratio of the output voltage by n%.

[0441] As an example, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction in a reverse "PWM80%" state, the second correction value may be calculated as 9. At this time, the control unit 300 may increase the duty ratio of the output voltage applied to the second arm massage unit 3000b by 9%. Therefore, the second arm massage providing unit 3100b may move in the second direction in a reverse "PWM89%" state. The ratio at which the duty ratio increases according to the magnitude of the correction value corresponds to an example and is not limited thereto.

[0442] At this time, the control unit 300 can adjust the duty ratio of the output voltage within a preset range. For example, the control unit 300 can adjust the duty ratio to within 10%. When the second correction value has a value between 0 and 10, the control unit 300 can increase the duty ratio of the output voltage applied to the second arm massage unit 3000b by 0% to 10% corresponding to the second correction value. When the second correction value is 10 or more, the control unit 300 can increase the duty ratio of the output voltage applied to the second arm massage unit 3000b by 10%. For example, when the second correction value is 16, the control unit 300 can increase the duty ratio of the output voltage applied to the second arm massage unit 3000b by 10%. At this time, the second arm massage providing unit 3100b can move in the second direction in a reverse "PWM 90%" state. The ratio at which the duty ratio increases according to the magnitude of the correction value and the range for adjusting the duty ratio correspond to an example and are not limited thereto.

[0443] According to another embodiment of the present specification, when the first arm massage unit 3000a and the second arm massage unit 3000b move in the first direction, the control unit 300 can control the arm massage unit with a relatively slow moving speed among the first arm massage unit 3000a and the second arm massage unit 3000b to move faster by the same degree as a part of the first correction value, and can control the arm massage unit with a relatively fast moving speed to move slower by the same degree as the remaining part of the first correction value.

[0444] When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 can control the arm massage unit with a relatively slow moving speed among the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move faster by the same degree as a part of the first correction value, and can control the arm massage unit with a relatively fast moving speed to move slower by the same degree as the remaining part of the first correction value.

[0445] When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second interval, the control unit 300 can obtain the rotation number of the motor of the arm massage unit actuator 3320 provided in each arm massage providing unit. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 can control the rotation number of the motor of the arm massage unit actuator 3320 with a relatively smaller rotation number among the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to rotate more by the same degree as a part of the first correction value, and can control the rotation number of the motor of the arm massage unit actuator 3320 with a relatively larger rotation number to rotate less by the same degree as the remaining part of the first correction value.

[0446] In addition, when the first arm massage unit 3000a and the second arm massage unit 3000b move in the second direction, the control unit 300 can control the arm massage unit with a relatively slower moving speed among the first arm massage unit 3000a and the second arm massage unit 3000b to move faster by the same degree as the second correction value.

[0447] When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the control unit 300 can control the arm massage unit with a relatively slower moving speed among the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move faster by the same degree as the second correction value.

[0448] When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second' interval, the control unit 300 can obtain the rotation number of the motor of the arm massage unit actuator 3320 provided in each arm massage providing unit. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the control unit 300 can control the rotation number of the motor of the arm massage unit actuator 3320 with a relatively smaller rotation number among the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to rotate more by the same degree as a part of the second correction value, and can control the rotation number of the motor of the arm massage unit actuator 3320 with a relatively larger rotation number to rotate less by the same degree as the remaining part of the second correction value.

[0449] As an example, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the number of rotations of the motor of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a acquired by the control unit 300 may be 224, and the number of rotations of the motor of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b may be 208. In this case, the first correction value may be calculated as 16. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 may control the motor of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b to rotate 7 more times, and may control the motor of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a to rotate 9 fewer times.

[0450] More specifically, the control unit 300 may apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction. At this time, the control unit 300 may apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the motors of the arm massage unit actuators 3320 provided in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b rotate in any state from "PWM100%" to "PWM0%" in the positive direction. The control unit 300 may apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction in any state from "PWM100%" to "PWM0%" in the positive direction.

[0451] As described above, when the rotation speed of the motor of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a is relatively greater than the rotation speed of the motor of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b, the control unit 300 may increase the duty ratio of the output voltage applied to the second arm massage unit 3000b and decrease the duty ratio of the output voltage applied to the first arm massage unit 3000a. The control unit 300 may increase the duty ratio of the output voltage applied to the second arm massage unit 3000b and decrease the duty ratio of the output voltage applied to the first arm massage unit 3000a according to the first correction value. When the first correction value is n (natural number), the control unit 300 may increase the duty ratio of the output voltage applied to the second arm massage unit 3000b by m (natural number less than n) % and decrease the duty ratio of the output voltage applied to the first arm massage unit 3000a by n - m %.

[0452] As an example, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction in the forward "PWM 80%" state, the first correction value may be calculated as 16. At this time, the control unit 300 may increase the duty ratio of the output voltage applied to the second arm massage unit 3000b by 7% and decrease the duty ratio of the output voltage applied to the first arm massage unit 3000a by 9%. Accordingly, the second arm massage providing unit 3100b may move in the first direction in the forward "PWM 87%" state and the first arm massage providing unit 3100a may move in the first direction in the forward "PWM 71%" state. The ratio of increase and / or decrease of the duty ratio according to the magnitude of the correction value corresponds to an example and is not limited thereto.

[0453] At this time, the control unit 300 can adjust the duty ratio of the output voltage within a preset range. For example, the control unit 300 can adjust the duty ratios of the output voltages applied to the first arm massage unit 3000a and the second arm massage unit 3000b to within 10% respectively. Additionally, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the rotation speed of the motor of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a obtained by the control unit 300 can be 215, and the rotation speed of the motor of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b can be 206. In this case, the second correction value can be calculated as 9. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the control unit 300 can control the motor of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b to rotate 4 more times, and can control the motor of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a to rotate 5 fewer times.

[0454] More specifically, the control unit 300 can apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction. At this time, the control unit 300 can apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the motors of the arm massage unit actuators 3320 provided in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b rotate in any state from reverse "PWM100%" to "PWM0%". The control unit 300 can apply an output voltage to the first arm massage unit 3000a and the second arm massage unit 3000b so that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction in any state from reverse "PWM100%" to "PWM0%".

[0455] As described above, when the rotation speed of the motor of the arm massage actuator 3320 provided in the first arm massage providing unit 3100a is relatively greater than the rotation speed of the motor of the arm massage actuator 3320 provided in the second arm massage providing unit 3100b, the control unit 300 may increase the duty ratio of the output voltage applied to the second arm massage unit 3000b and decrease the duty ratio of the output voltage applied to the first arm massage unit 3000a. The control unit 300 may increase the duty ratio of the output voltage applied to the second arm massage unit 3000b and decrease the duty ratio of the output voltage applied to the first arm massage unit 3000a according to the second correction value. When the first correction value is n (natural number), the control unit 300 may increase the duty ratio of the output voltage applied to the second arm massage unit 3000b by m (natural number less than n) % and decrease the duty ratio of the output voltage applied to the first arm massage unit 3000a by n - m %.

[0456] As an example, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction in a reverse "PWM 80%" state, the second correction value may be calculated as 9. At this time, the control unit 300 may increase the duty ratio of the output voltage applied to the second arm massage unit 3000b by 4% and decrease the duty ratio of the output voltage applied to the first arm massage unit 3000a by 5%. Therefore, the second arm massage providing unit 3100b may move in the second direction in a reverse "PWM 84%" state and the first arm massage providing unit 3100a may move in the second direction in a reverse "PWM 75%" state. The ratio of increase and / or decrease of the duty ratio according to the magnitude of the correction value corresponds to an example and is not limited thereto.

[0457] At this time, the control unit 300 may adjust the duty ratio of the output voltage within a preset range. For example, the control unit 300 may adjust the duty ratios of the output voltages applied to the first arm massage unit 3000a and the second arm massage unit 3000b to within 10% respectively.

[0458] ​ It is a flowchart of the basic moving speed setting of another embodiment of this specification.

[0459] Refer to ​ In step S10-10, the control unit 300 may calculate the first deviation, but since this has been described above, repeated description will be omitted.

[0460] According to another embodiment of this specification, when the first deviation exceeds a preset first reference value (or first normal deviation value) (step S10-11 is yes), in step S10-12, the control unit 300 may store the first deviation as the first correction value in the memory 330.

[0461] In step S10-13, the control unit 300 may calculate the second deviation, but since this has been described above, repeated description will be omitted.

[0462] When the second deviation exceeds a preset second reference value (or second normal deviation value) (step S10-14 is yes), in step S10-15, the control unit 300 may store the second deviation as the second correction value in the memory 330.

[0463] In step S10-16, the control unit 300 may adjust the duty ratio of the output voltage applied to at least any one of the arm massage units 3000 by using at least one of the first correction value and the second correction value, so as to control the moving speed of the arm massage providing unit 3100 to have a value within a preset deviation range and move in at least one of the first direction and the second direction.

[0464] As an example, as described above, the control unit 300 sets the basic moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b before moving the first arm massage unit 3000a and the second arm massage unit 3000b, and may align and move the first arm massage unit 3000a and the second arm massage unit 3000b based on the set basic moving speeds. At this time, the basic moving speeds may include a first basic moving speed for aligning and moving the first arm massage unit 3000a and the second arm massage unit 3000b in the first direction and a second basic moving speed for aligning and moving the first arm massage unit 3000a and the second arm massage unit 3000b in the second direction.

[0465] Specifically, the control unit 300 sets the first basic moving speed for aligning and moving the first arm massage unit 3000a and the second arm massage unit 3000b in the first direction based on the first correction value, and when aligning and moving the first arm massage unit 3000a and the second arm massage unit 3000b in the first direction, may control the moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b to be the first basic moving speed. At this time, the first basic moving speed of the first arm massage unit 3000a and the first basic moving speed of the second arm massage unit 3000b are speeds for aligning and moving the first arm massage unit 3000a and the second arm massage unit 3000b in the first direction, and may be the same as or different from each other.

[0466] The control unit 300 sets a second basic moving speed for aligning and moving the first arm massage unit 3000a and the second arm massage unit 3000b in the second direction based on the second correction value. When aligning and moving the first arm massage unit 3000a and the second arm massage unit 3000b in the second direction, the moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b can be controlled to the second basic moving speed. At this time, the second basic moving speed of the first arm massage unit 3000a and the second basic moving speed of the second arm massage unit 3000b are speeds for aligning and moving the first arm massage unit 3000a and the second arm massage unit 3000b in the second direction, and can be the same as or different from each other.

[0467] As another example, when aligning and moving the first arm massage unit 3000a and the second arm massage unit 3000b, the control unit 300 can calculate and set the basic moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b based on at least one of the first correction value and the second correction value, and control the moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b to the set basic moving speeds.

[0468] Specifically, when aligning and moving the first arm massage unit 3000a and the second arm massage unit 3000b in the first direction, the control unit 300 obtains the first correction value stored in the memory 330, and calculates and sets the first basic moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b based on the obtained first correction value. By controlling the moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b to the set first basic moving speeds, the first arm massage unit 3000a and the second arm massage unit 3000b can be aligned and moved in the first direction. Whenever the arm massage unit 3000 is moved in the first direction, the process of calculating and setting the first basic moving speed can be executed.

[0469] When aligning and moving the first arm massage unit 3000a and the second arm massage unit 3000b in the second direction, the control unit 300 obtains the second correction value stored in the memory 330, and calculates and sets the second basic moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b based on the obtained second correction value. By controlling the moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b to the set second basic moving speeds, the first arm massage unit 3000a and the second arm massage unit 3000b can be aligned and moved in the second direction. Whenever the arm massage unit 3000 is moved in the second direction, the process of calculating and setting the second basic moving speed can be executed.

[0470] The above-mentioned first basic moving speed and second basic moving speed may be moving speeds set by adjusting the duty ratio of the output voltage applied to the arm massage unit 3000.

[0471] Since the method for controlling the moving speed of the arm massage providing unit 3100 has been described above, repeated description is omitted.

[0472] When the second deviation is less than a preset second reference value (No in step S10-14), the control unit 300 may determine that the second deviation is a deviation corresponding to the normal range, and thus not store the second deviation in the memory 330. The deviation corresponding to the normal range may refer to a value within a preset deviation range.

[0473] In step S10-20, the control unit 300 may adjust the duty ratio of the output voltage applied to at least any one of the first arm massage unit 3000a and the second arm massage unit 3000b by using the first correction value, so as to control the moving speed of each arm massage providing unit 3100 to have a value within a preset deviation range and move in the first direction.

[0474] In addition, in step S10-11, when the first deviation is less than a preset first reference value (No in step S10-11), the control unit 300 may determine that the first deviation is a deviation corresponding to the normal range, and thus not store the first deviation in the memory 330. The deviation corresponding to the normal range may refer to a value within a preset deviation range.

[0475] After that, in step S10-30, the control unit 300 may calculate the second deviation.

[0476] When the second deviation is greater than or equal to a preset second reference value (Yes in step S10-31), in step S10-32, the control unit 300 may store the second deviation as a second correction value in the memory.

[0477] In step S10-33, the control unit 300 may control the arm massage providing unit 3100 to use the second correction value to adjust the duty ratio of the output voltage applied to at least any one of the arm massage units 3000, so that the moving speed of each arm massage providing unit 3100 has a value within a preset deviation range and moves in the second direction.

[0478] In step S10-31, when the second deviation is less than a preset second reference value (No in step S10-31), the control unit 300 may determine that the second deviation is a deviation corresponding to a normal range, and thus does not store the second deviation in the memory 330.

[0479] As an example, the first deviation may correspond to 15 and the second deviation may correspond to 13. The preset reference values for the first deviation and the second deviation may correspond to 5. When the first deviation and the second deviation are 5 or more, the control unit 300 may store them as correction values in the memory 330. In this case, the control unit 300 may store the first deviation as a first correction value in the memory 330 and store the second deviation as a second correction value in the memory 330. Thereafter, as described above, the control unit 300 may control the moving speed of each arm massage providing unit 3100 to have a value within a preset deviation range and move in the first direction and the second direction by adjusting the duty ratio of the output voltage applied to at least any one of the arm massage units 3000. At this time, the moving speed corrected to have a value within the preset deviation range and moving in the first direction and the second direction by the arm massage providing unit 3100 may correspond to the basic moving speed in the first direction and the second direction.

[0480] As another example, the first deviation may correspond to 15 and the second deviation may correspond to 3. The preset reference values for the first deviation and the second deviation may correspond to 5. When the first deviation and the second deviation are 5 or more, the control unit 300 may store them as correction values in the memory 330. In this case, the control unit 300 may store the first deviation as a first correction value in the memory 330 and does not store the second deviation in the memory 330. At this time, the moving speed when the arm massage providing unit 3100 moves in the second direction may correspond to the basic moving speed in the second direction.

[0481] Thereafter, as described above, the control unit 300 may control the moving speed of each arm massage providing unit 3100 to have a value within a preset deviation range and move in the first direction by adjusting the duty ratio of the output voltage applied to at least any one of the arm massage units 3000. The moving speed corrected to have a value within the preset deviation range and moving in the first direction by the arm massage providing unit 3100 may correspond to the basic moving speed in the first direction.

[0482] As another example, the first deviation may correspond to 3, and the second deviation may correspond to 15. The preset reference value regarding the first deviation and the second deviation may correspond to 5. When the first deviation and the second deviation are 5 or more, the control unit 300 may store them as correction values in the memory 330. In this case, the control unit 300 may not store the first deviation in the memory 330, and store the second deviation in the memory 330 as the second correction value. At this time, the moving speed when the arm massage providing unit 3100 moves in the first direction may correspond to the basic moving speed in the first direction.

[0483] After that, as described above, the control unit 300 may control the moving speed of each arm massage providing unit 3100 to have a value within a preset deviation range and move in the second direction by adjusting the duty ratio of the output voltage applied to at least any one of the arm massage units 3000. The moving speed corrected to have a value within a preset deviation range and moving in the second direction for the arm massage providing unit 3100 may correspond to the basic moving speed in the second direction.

[0484] As another example, the first deviation may correspond to 3, and the second deviation may correspond to 2. The preset reference value regarding the first deviation and the second deviation may correspond to 5. When the first deviation and the second deviation are 5 or more, the control unit 300 may store them as correction values in the memory 330. In this case, the control unit 300 may not store the first deviation and the second deviation in the memory 330. At this time, the moving speed when the arm massage providing unit 3100 moves in the first direction and the second direction may correspond to the basic moving speeds regarding the first direction and the second direction.

[0485] When the deviation of the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b is below the preset reference value, the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b may correspond to the basic moving speed.

[0486] The process of setting the basic moving speed according to this specification can be performed through One Key Test in the administrator mode of the massage device 100. In the administrator mode, the control unit 300 can store the first correction value and / or the second correction value in the memory 330. After that, the control unit 300 can restart the system of the massage device 100. After restarting the system of the massage device 100, the control unit 300 corrects the moving speed of at least any one of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b by using the first correction value and / or the second correction value in the memory 330 to set the basic moving speed. At this time, as described above, the control unit 300 can set the first and / or second basic moving speeds before and / or when moving the arm massage providing unit.

[0487] ​ It is a flowchart of partial moving speed control according to an embodiment of this specification.

[0488] Refer to ​ , in step S11-1, the control unit 300 can control the massage device 100 to perform the actions of any massage mode and / or stretching mode. When the control unit 300 controls the first arm massage unit 3000a and the second arm massage unit 3000b to move in the actions of any massage mode and / or stretching mode, it can be controlled that the first arm massage unit 3000a and the second arm massage unit 3000b move at the basic moving speed.

[0489] When the control unit 300 controls the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move in the actions of any massage mode and / or stretching mode, it can be controlled that the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move at the basic moving speed.

[0490] In step S11-2, the moving speeds of the first arm massage unit 3000a and the second arm massage providing unit 3000b can be calculated. The control unit 300 can calculate the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b.

[0491] According to an embodiment of the present specification, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move at the basic moving speed, the control unit 300 may calculate the partial moving speed of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b according to a preset speed calculation interval. As an example, the control unit 300 may calculate the partial moving speed according to the change of the encoder of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b. The change of the encoder may mean that a pulse is generated in the encoder by the rotation of the motor of the arm massage unit actuator 3320. Or the change of the encoder may mean that the encoder rotates once by the rotation of the motor of the arm massage unit actuator 3320. The change of the encoder may mean that the encoder rotates once by the rotation of the motor with reference to the state before the arm massage unit actuator 3320 operates. This corresponds to an example and is not limited by the standard.

[0492] In step S11-3, the control unit 300 may calculate the moving speed of the arm massage unit 3000. The control unit 300 may calculate the moving speed of the arm massage unit 3000 by using the pulse information generated by the encoder. The control unit 300 may use the pulse information generated according to the change of the encoder to calculate the moving speed of the arm massage providing unit 3100. This may correspond to the speed at which the arm massage unit actuator 3320 extends or contracts according to the change of the encoder. Since it is a well-known technique for those of ordinary skill in the art to calculate the moving speed by using the pulse information generated by the encoder, detailed description is omitted.

[0493] The moving speed of the arm massage unit 3000 according to the change of the encoder may refer to the partial moving speed of the arm massage unit 3000. The moving speed of the arm massage providing unit 3100 according to the change of the encoder may refer to the partial moving speed of the arm massage providing unit 3100.

[0494] The control unit 300 may determine whether the partial moving speed of the arm massage providing unit 3100 has a value within a preset range. When the partial moving speed of the arm massage providing unit 3100 has a value within the preset range (step S11-3 is yes), the control unit 300 may not control the moving speed of the arm massage providing unit 3100.

[0495] When the partial movement speed of the arm massage providing unit 3100 does not have a value within a preset range (No in step S11-3), in step S11-3', the control unit 300 may control the partial movement speed of the arm massage providing unit 3100.

[0496] When the partial movement speed of each arm massage unit 3000 exceeds the maximum value of the preset speed range, the control unit 300 may control each arm massage unit 3000 to move relatively slowly.

[0497] When the partial movement speed of each arm massage unit 3000 is less than the minimum value of the preset speed range, the control unit 300 may control each arm massage unit 3000 to move relatively quickly.

[0498] When the partial movement speed of each arm massage providing unit 3100 exceeds the maximum value of the preset speed range, the control unit 300 may control each arm massage providing unit 3100 to move relatively slowly.

[0499] When the partial movement speed of each arm massage providing unit 3100 is less than the minimum value of the preset speed range, the control unit 300 may control each arm massage providing unit 3100 to move relatively quickly.

[0500] As an example, the preset speed range may be 0.0051 m / s or more and 0.0052 m / s or less. When the partial movement speed of the arm massage providing unit 3100 is less than 0.0051 m / s, the control unit 300 may control the arm massage providing unit 3100 to move relatively faster. When the partial movement speed of the arm massage providing unit 3100 exceeds 0.0052 m / s, the control unit 300 may control the arm massage providing unit 3100 to move relatively slower. The speed range corresponds to an example and is not limited by the speed range.

[0501] The control unit 300 may control the arm massage providing unit 3100 to move forward or backward in any massage mode and / or stretching mode. The control unit 300 may control the arm massage providing unit 3100 to move at the basic movement speed. At this time, as described above, the arm massage unit actuator 3320 may have any one of the states of "PWM 0% to 100%".

[0502] As an example, when the arm massage providing unit 3100 moves in the first direction at the basic moving speed, the arm massage unit actuator 3320 may be in a positive "PWM 92%" state. At this time, the duty ratio of the output voltage applied to the arm massage unit actuator 3320 may correspond to 92%. The control unit 300 may calculate the partial moving speed of the arm massage providing unit 3100 based on the change of the encoder. When the partial moving speed of the arm massage providing unit 3100 has a value within a preset speed range, the control unit 300 may not change the duty ratio of the output voltage applied to the arm massage unit actuator 3320. The duty ratio of the output voltage according to the basic moving speed corresponds to an example and is not limited by the duty ratio value.

[0503] When the partial moving speed of the arm massage providing unit 3100 does not have a value within a preset speed range, the control unit 300 may change the duty ratio of the output voltage applied to the arm massage unit actuator 3320.

[0504] When the partial moving speed of the arm massage providing unit 3100 exceeds the maximum value of the preset speed range, the control unit 300 may change the duty ratio of the output voltage to have a value less than 92%. At this time, the control unit 300 may control the duty ratio of the output voltage to have a value as small as the preset change value. For example, the control unit 300 may control the duty ratio of the output voltage applied to the arm massage unit actuator 3320 to decrease by 1%, but this corresponds to an example and is not limited by the numerical value of the change value.

[0505] When the partial moving speed of the arm massage providing unit 3100 is less than the minimum value of the preset speed range, the control unit 300 may change the duty ratio of the output voltage to have a value greater than 92%. At this time, the control unit 300 may control the duty ratio of the output voltage to have a value as large as the preset change value. For example, the control unit 300 may control the duty ratio of the output voltage applied to the arm massage unit actuator 3320 to increase by 1%, but this corresponds to an example and is not limited by the numerical value of the change value.

[0506] When the arm massage providing unit 3100 moves in the second direction at the basic moving speed, the arm massage unit actuator 3320 may have a reverse "PWM 92%" state. At this time, the duty cycle of the output voltage applied to the arm massage unit actuator 3320 may correspond to 92%. The control unit 300 may calculate the partial moving speed of the arm massage providing unit 3100 based on the change of the encoder. When the partial moving speed of the arm massage providing unit 3100 has a value within a preset speed range, the control unit 300 may not change the duty cycle of the output voltage applied to the arm massage unit actuator 3320. The duty cycle of the output voltage according to the basic moving speed corresponds to an example and is not limited by the duty cycle value.

[0507] When the partial moving speed of the arm massage providing unit 3100 does not have a value within a preset speed range, the control unit 300 may change the duty cycle of the output voltage applied to the arm massage unit actuator 3320.

[0508] When the partial moving speed of the arm massage providing unit 3100 exceeds the maximum value of the preset speed range, the control unit 300 may change the duty cycle of the output voltage to have a value less than 92%. At this time, the control unit 300 may control the duty cycle of the output voltage to have a value as small as the preset change value. For example, the control unit 300 may control the duty cycle of the output voltage applied to the arm massage unit actuator 3320 to decrease by 1%, but this corresponds to an example and is not limited by the numerical value of the change value.

[0509] When the partial moving speed of the arm massage providing unit 3100 is less than the minimum value of the preset speed range, the control unit 300 may change the duty cycle of the output voltage to have a value greater than 92%. At this time, the control unit 300 may control the duty cycle of the output voltage to have a value as large as the preset change value. For example, the control unit 300 may control the duty cycle of the output voltage applied to the arm massage unit actuator 3320 to increase by 1%, but this corresponds to an example and is not limited by the numerical value of the change value.

[0510] In this specification, the moving speed of the arm massage providing unit 3100 is controlled by changing the duty cycle of the output voltage applied to the arm massage unit actuator 3320, but this corresponds to an example and is not limited thereto. Techniques well known to those skilled in the art may be used.

[0511] The control unit 300 can independently control the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b. As described above, the first arm massage providing unit 3100a and the second arm massage providing unit 3100b can be moved by each arm massage unit actuator 3320.

[0512] As an example, the control unit 300 can calculate the partial moving speed of the first arm massage providing unit 3100a according to the change of the encoder of the arm massage unit actuator 3320 provided in the first arm massage providing unit 3100a. In addition, the control unit 300 can calculate the partial moving speed of the second arm massage providing unit 3100b according to the change of the encoder of the arm massage unit actuator 3320 provided in the second arm massage providing unit 3100b.

[0513] At this time, the partial moving speed of the first arm massage providing unit 3100a can have a value within the preset speed range, and the partial moving speed of the second arm massage providing unit 3100b may not have a value within the preset speed range. In this case, the control unit 300 may not control the moving speed of the first arm massage providing unit 3100a, and may control the moving speed of the second arm massage providing unit 3100b to have a value within the preset speed range.

[0514] As above, with reference to the accompanying drawings, embodiments of the present specification have been described. Those of ordinary skill in the technical field to which the present specification pertains can understand that the present invention can be implemented in other specific forms without changing its technical idea or essential features. Therefore, it should be understood that the above-described embodiments are exemplary in all aspects and not restrictive.

Claims

1. A massage device, characterized in that, Comprising: A first arm massage part, disposed on one side of the body massage part and capable of moving back and forth, A second arm massage part, disposed on the other side of the body massage part and capable of moving back and forth, and A control part, controlling the operations of the body massage part, the first arm massage part, and the second arm massage part; The control part calculates the deviation between the moving speeds of the first arm massage part and the second arm massage part, and controls the moving speed of at least one of the first arm massage part and the second arm massage part so that the deviation has a value within a preset deviation range.

2. The massage device according to claim 1, wherein The control part calculates a first deviation and a second deviation. The first deviation is the deviation between the moving speeds of the first arm massage part and the second arm massage part moving in a first direction from one end towards the other end, and the second deviation is the deviation between the moving speeds moving in a second direction from the other end towards the one end. The control part uses the first deviation and the second deviation to control the moving speeds of the arm massage parts in each direction.

3. The massage device according to claim 2, wherein The control part calculates the moving speeds of the first arm massage part and the second arm massage part from a preset start time point to a preset end time point.

4. The massage device according to claim 2, wherein The control part calculates the moving speeds of the first arm massage part and the second arm massage part moving within a preset moving section.

5. The massage device according to claim 2, wherein The control part extracts the moving distances of the first arm massage part and the second arm massage part at preset time intervals and calculates the moving speeds.

6. The massage device according to claim 2, wherein It further comprises a memory storing information related to the first deviation and the second deviation; The control part stores the first deviation as a first correction value regarding the moving speeds of the first arm massage part and the second arm massage part when moving in the first direction in the memory, The control part stores the second deviation as a second correction value regarding the moving speeds of the first arm massage part and the second arm massage part when moving in the second direction in the memory, The control part controls the moving speed of the at least one arm massage part by loading at least one of the first correction value and the second correction value stored in the memory.

7. The massage device according to claim 6, wherein When the first arm massage part and the second arm massage part move in the first direction, the control part controls the arm massage part with a relatively faster moving speed among the first arm massage part and the second arm massage part to move slowly by the same degree as the first correction value. When the first arm massage part and the second arm massage part move in the second direction, the control part controls the arm massage part with a relatively faster moving speed among the first arm massage part and the second arm massage part to move slowly by the same degree as the second correction value.

8. The massage device according to claim 6, wherein when the first arm massage part and the second arm massage part move in the first direction, the control part controls the arm massage part with a relatively slower moving speed among the first arm massage part and the second arm massage part to move quickly by the same degree as the first correction value, when the first arm massage part and the second arm massage part move in the second direction, the control part controls the arm massage part with a relatively slower moving speed among the first arm massage part and the second arm massage part to move quickly by the same degree as the second correction value.

9. The massage device according to claim 6, wherein when the first arm massage part and the second arm massage part move in the first direction, the control part controls the arm massage part with a relatively slower moving speed among the first arm massage part and the second arm massage part to move quickly by the same degree as a part of the first correction value, and controls the arm massage part with a relatively faster moving speed to move slowly by the same degree as the remaining part of the first correction value, when the first arm massage part and the second arm massage part move in the second direction, the control part controls the arm massage part with a relatively slower moving speed among the first arm massage part and the second arm massage part to move slowly by the same degree as a part of the second correction value, and controls the arm massage part with a relatively faster moving speed to move slowly by the same degree as the remaining part of the second correction value.

10. The massage device according to claim 6, wherein when the first deviation exceeds a preset reference value, the control part stores the first deviation as the first correction value in the memory, when the second deviation exceeds a preset reference value, the control part stores the second deviation as the second correction value in the memory.

11. The massage device according to claim 1, wherein when controlling the moving speed of the at least one arm massage part so that the deviation has a value within a preset deviation range, the control part sets the moving speeds of the first arm massage part and the second arm massage part controlled to a basic moving speed.

12. The massage device according to claim 11, wherein when controlling the first arm massage part and the second arm massage part to move in an action according to any massage mode, the control part controls the first arm massage part and the second arm massage part to move at the basic moving speed, the control part controls the first arm massage part and the second arm massage part to have values within a preset moving speed range.

13. The massage device according to claim 12, wherein When the first arm massage unit and the second arm massage unit move at the basic moving speed, the control unit calculates the partial moving speeds of the first arm massage unit and the second arm massage unit according to a preset speed calculation interval, and controls the partial moving speeds to have values within a preset speed range.

14. The massage device according to claim 13, wherein when the partial moving speed of each arm massage unit exceeds the maximum value of the speed range, the control unit controls it to move relatively slowly, when the partial moving speed of each arm massage unit is less than the minimum value of the speed range, the control unit controls it to move relatively quickly.

15. The massage device according to any one of claims 1 to 14, characterized in that, Comprising: an arm massage unit actuator that moves the arm massage unit through the driving action of a motor, and an encoder that senses the rotation of the motor; the control unit calculates the deviation by using the rotation information of the motor sensed by the encoder, and controls the moving speed of the arm massage unit by controlling the rotation speed of the motor.

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