Massage apparatus comprising massage units and horizontal transfer shafts

Abstract

According to one embodiment of this disclosure, a massage device may be provided. The massage device may include a base plate; a horizontal transfer shaft extending along the width direction of the massage device, the horizontal transfer shaft being configured not to rotate relative to the base plate; a first massage unit including at least one massage head, the first massage unit being movable along the horizontal transfer shaft on one side of the base plate; and a second massage unit including at least one massage head, the second massage unit being movable along the horizontal transfer shaft on the other side of the base plate.

Description

Technical Field

[0001] Various embodiments of this disclosure relate to a massage device, and more specifically, to a massage device comprising a plurality of massage units that move independently along a non-rotating horizontal transfer axis and perform massage actions. Background Technology

[0002] Massage devices are generally defined as devices that provide mechanical stimulation for health management purposes, such as relieving physical fatigue or promoting blood circulation, and include massage chairs. Traditional massage devices use complex driving mechanisms to perform rolling, kneading, and patting movements on a wide range of body parts, such as the back, shoulders, and waist.

[0003] In particular, the horizontal (left-right) movement of the massage unit typically uses a rotatable transfer shaft (e.g., a lead screw), and the massage unit is moved by engaging a component such as a nut with this shaft. This method requires separate power and space to rotate the transfer shaft, which can easily lead to structural complexity.

[0004] Furthermore, when the massage units on both sides are driven around a single transfer axis, there is a structural limitation that makes it difficult to independently control the movement of each unit. This makes it difficult to provide precise and personalized massages based on the user's asymmetrical body parts or individual massage intensity preferences.

[0005] The above information is provided as background information to aid in understanding the contents disclosed herein. It should be noted that this specification makes no claim or judgment regarding whether any part of the above content can be considered prior art to the contents disclosed herein. Summary of the Invention

[0006] The problem the invention aims to solve This disclosure addresses the limitations of traditional technologies by proposing a novel massage device structure: it simplifies the structure by employing a fixed horizontal transfer axis and provides an independent drive unit for each massage unit to individually control the left and right massage units, thereby maximizing massage efficiency and user satisfaction.

[0007] The technical problems to be solved by this disclosure are not limited to those mentioned above. Other technical problems not mentioned can be clearly understood by those skilled in the art from the following description.

[0008] means for solving problems According to this disclosure, a massage device may be provided, comprising: a base plate; a horizontal transfer shaft extending along the width direction of the massage device, the horizontal transfer shaft being configured not to rotate relative to the base plate; a first massage unit including at least one massage head, the first massage unit being movable along the horizontal transfer shaft on one side of the base plate; and a second massage unit including at least one massage head, the second massage unit being movable along the horizontal transfer shaft on the other side of the base plate.

[0009] According to one embodiment, the first massage unit may include a first horizontal transfer motor that provides power for horizontal movement on the horizontal transfer axis, and the second massage unit may include a second horizontal transfer motor that provides power for horizontal movement on the horizontal transfer axis. The second massage unit may be configured to be driven independently of the first massage unit.

[0010] According to one embodiment, the first massage unit may include a first unit housing, the first unit housing including a first opening through which the horizontal transfer shaft passes, a first head support for supporting at least one massage head connected to the front side of the first unit housing, and a first horizontal transfer motor disposed on the rear side. The second massage unit may include a second unit housing, the second unit housing including a second opening through which the horizontal transfer shaft passes, a second head support for supporting at least one massage head connected to the front side of the second unit housing, and a second horizontal transfer motor disposed on the rear side.

[0011] According to one embodiment, the first massage unit can form the first opening through the horizontal transfer shaft bushing, and an internal gear meshing with the gear of the horizontal transfer shaft is formed in the horizontal transfer shaft bushing. A worm wheel meshing with the worm on the rotating shaft of the first horizontal transfer motor is arranged on the outer periphery of the horizontal transfer shaft bushing. The second massage unit can form the second opening through the horizontal transfer shaft bushing, and an internal gear meshing with the gear of the horizontal transfer shaft is formed in the horizontal transfer shaft bushing. A worm wheel meshing with the worm on the rotating shaft of the second horizontal transfer motor is arranged on the outer periphery of the horizontal transfer shaft bushing.

[0012] According to one embodiment, the massage device may include: a first rotating axis extending along the width direction of the massage device in a manner parallel to the horizontal transfer axis; a first guide plate disposed between the first guide plate and the base plate, wherein the first guide plate guides the first massage unit to tilt in a front-back direction with reference to the first rotating axis; and a second guide plate disposed between the second guide plate and the base plate, wherein the second guide plate guides the second massage unit to tilt in a front-back direction with reference to the first rotating axis.

[0013] According to one embodiment, the massage device may include a frame portion; a main frame disposed on the frame portion and configured to extend vertically along the frame portion; and a massage module configured to move vertically on the main frame. The massage module may include: a module housing surrounding the base plate, the first massage unit, the second massage unit, the first guide plate, and the second guide plate; a first wheel and a second wheel disposed on one side and the other side of the module housing, and the first wheel and the second wheel configured to roll on the main frame; and a travel axle for connecting the first wheel and the second wheel. The travel axle may include: a first gear meshing with a first guide gear of the first guide plate; and a second gear meshing with a second guide gear of the second guide plate.

[0014] According to one embodiment, at least one of one end and the other end of the horizontal transfer shaft may include a fixing structure, through which the horizontal transfer shaft can be positioned and fixed to at least one of the first guide plate and the second guide plate.

[0015] According to one embodiment, the massage device may include: a tapping shaft extending along the width direction of the massage device in a manner parallel to the horizontal transfer shaft, the tapping shaft passing through the base plate and being connected to the first massage unit and the second massage unit respectively; and a tapping motor disposed on one side of the base plate and used to provide rotational power to the tapping shaft.

[0016] According to one embodiment, the tapping shaft may include: a shaft fixing portion fixedly disposed on the base plate; a first tapping shaft extending from the shaft fixing portion to one side and passing through the first massage unit; and a second tapping shaft extending from the shaft fixing portion to the other side and passing through the second massage unit; the first tapping shaft and the second tapping shaft are each composed of multiple segments, and at least one of the central axes of the multiple segments of the first tapping shaft and at least one of the central axes of the multiple segments of the second tapping shaft are eccentric to each other.

[0017] According to one embodiment, a slapping motor for rotating the slapping shaft may be disposed on one side of the base plate, while a slapping power transmission part for transmitting the power of the slapping motor to the slapping shaft may be disposed on the other side of the base plate.

[0018] According to one embodiment, the slapping power transmission unit may include a driving pulley disposed on the shaft of the slapping motor; a driven pulley disposed on the shaft of the slapping shaft; and a belt located between the driving pulley and the driven pulley.

[0019] According to one embodiment, the massage device may include a control unit that controls the first massage unit and the second massage unit independently, relative to each other, quasi-linked, or linked in a manner based on position and rotation angle information of a first massage unit received from a sensing unit disposed on the massage device and position and rotation angle information of a second massage unit received from a sensing unit disposed on the massage device, thereby providing at least one of pressing, kneading, and patting actions.

[0020] According to one embodiment, the massage device may include: a first sensor plate extending along the width direction of the massage device, and a second sensor plate extending along the width direction of the massage device; the first massage unit may include: a first optical sensor configured to overlap with at least a portion of the area of ​​the first sensor plate; the second massage unit may include: a second optical sensor configured to overlap with at least a portion of the area of ​​the second sensor plate.

[0021] According to one embodiment, the massage device may include: a first guide plate, wherein the first massage unit is disposed between the first guide plate and the base plate, and the first guide plate is used to guide the first massage unit to rotate in a front-back direction; a second guide plate, wherein the second massage unit is disposed between the second guide plate and the base plate, and the second guide plate is used to guide the second massage unit to move in a front-back direction; a tapping shaft, extending along the width direction of the massage device in a manner parallel to the horizontal transfer shaft, and the tapping shaft passes through the base plate, the first massage unit, and the second massage unit, and passes through at least one of the first guide plate and the second guide plate; a tapping sensor plate, formed at one end of the tapping shaft passing through at least one of the first guide plate and the second guide plate, and the tapping sensor plate rotates together with the tapping shaft; and a tapping sensing unit for detecting the position of a position recognition element disposed on the tapping sensor plate.

[0022] According to one embodiment, the massage device may include: a pressure angle sensing unit disposed on at least one of the first guide plate and the second guide plate and used to detect the maximum movable range of the massage module's pressing action in the front-back direction.

[0023] According to one embodiment, it may further include: a stop block, respectively disposed on one side and the other side of the base plate and used to restrict the movement of the first massage unit and the second massage unit.

[0024] Invention Effects According to this disclosure, by adopting a structure in which the horizontal transfer axis is fixed and does not rotate, and is moved along the axis by a motor, the traditional complex rotary drive mechanism is eliminated, thus simplifying the structure of the massage module and achieving miniaturization.

[0025] According to this disclosure, the first massage unit and the second massage unit have separate independent horizontal transfer motors, which enable individual control of the movement speed, position and movement of the left and right units, thus providing precise and personalized massage for the user's body shape and asymmetrical body parts.

[0026] According to this disclosure, the first massage unit and the second massage unit have separate independent horizontal transfer motors, which enable individual control of the movement speed, position and movement of the left and right units, thus providing precise and personalized massage for the user's body shape and asymmetrical body parts.

[0027] According to this disclosure, by arranging the motor at the rear of the massage unit, the longitudinal length of the entire massage module is shortened, thereby maximizing space efficiency.

[0028] According to this disclosure, the sensor unit receives various information such as the position, rotation angle, and forward and backward movement of the massage unit, and controls the pressing, kneading, and patting actions independently or in conjunction with this information, thereby effectively realizing compound massage actions.

[0029] The effects achievable by this disclosure are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description. Attached Figure Description

[0030] Figure 1 This is a diagram illustrating a massage device according to an embodiment of the present disclosure.

[0031] Figure 2 This is a diagram illustrating the main framework according to an embodiment of the present disclosure.

[0032] Figure 3 This is a diagram illustrating the specific structure of a massage device according to an embodiment of the present disclosure.

[0033] Figure 4 This is a diagram illustrating an external device capable of communicating with a massage device according to an embodiment of the present disclosure.

[0034] Figure 5 This is a perspective view of a massage module according to an embodiment of the present disclosure.

[0035] Figure 6 This is a perspective view of a massage module according to an embodiment of the present disclosure.

[0036] Figure 7 This is a front view of a massage module according to an embodiment of the present disclosure.

[0037] Figure 8 This is a rear view of a massage module according to an embodiment of the present disclosure.

[0038] Figure 9 This is a right-side view of a massage module according to an embodiment of the present disclosure.

[0039] Figure 10 This is a left-side view of a massage module according to an embodiment of the present disclosure.

[0040] Figure 11 This is a perspective view of a massage module with a first wheel and a second wheel, a travel axle connecting the first wheel and the second wheel, and a module housing supporting the travel axle, according to an embodiment of the present disclosure.

[0041] Figure 12 This is a perspective view of a base plate, a first massage unit and a second massage unit disposed on one side and the other side of the base plate, and a first guide plate and a second guide plate, according to an embodiment of the present disclosure.

[0042] Figure 13 This is a front view of a base plate, a first massage unit and a second massage unit disposed on one side and the other side of the base plate, and a first guide plate and a second guide plate, according to an embodiment of the present disclosure.

[0043] Figure 14 This is a rear view of a base plate, a first massage unit and a second massage unit disposed on one side and the other side of the base plate, and a first guide plate and a second guide plate, according to an embodiment of the present disclosure.

[0044] Figure 15 This is a right-side view of a base plate, a first massage unit and a second massage unit disposed on one side and the other side of the base plate, and a first guide plate and a second guide plate, according to an embodiment of the present disclosure.

[0045] Figure 16 This is a left-side view of a base plate, a first massage unit and a second massage unit disposed on one side and the other side of the base plate, and a first guide plate and a second guide plate, according to an embodiment of the present disclosure.

[0046] Figure 17 This is a right-side view of a first massage unit according to an embodiment of the present disclosure.

[0047] Figure 18 This is a left-side view of a first massage unit according to an embodiment of the present disclosure.

[0048] Figure 19 This is an exploded view of a first massage unit according to an embodiment of the present disclosure.

[0049] Figure 20 This is a right-side view showing the internal configuration of a first massage unit according to an embodiment of the present disclosure.

[0050] Figure 21This is a perspective view showing an optical sensor according to an embodiment of the present disclosure.

[0051] Figure 22 This is a front perspective view showing a base plate, a first guide plate, and a second guide plate according to an embodiment of the present disclosure.

[0052] Figure 23 This is a front perspective view showing a base plate, a first guide plate, and a second guide plate according to an embodiment of the present disclosure.

[0053] Figure 24 This is a rear perspective view showing a base plate, a first guide plate, and a second guide plate according to an embodiment of the present disclosure.

[0054] Figure 25 This is a diagram illustrating a sensor board according to a first embodiment of the present disclosure.

[0055] Figure 26 This is a diagram illustrating a sensor board according to a second embodiment of the present disclosure.

[0056] Figure 27 This is a front view of a massage module including a sensor plate according to a second embodiment of the present disclosure.

[0057] Figure 28 This is a perspective view of a striking shaft according to an embodiment of the present disclosure.

[0058] Figure 29 This is a side view of a striking shaft according to an embodiment of the present disclosure.

[0059] Figure 30 This is a perspective view showing a striking position sensing unit for measuring the rotational position of a striking shaft according to an embodiment of the present disclosure.

[0060] Figure 31 This is a diagram showing the sensor plate of the pressure angle sensing section of a massage module according to an embodiment of the present disclosure.

[0061] Figure 32 This is a diagram illustrating a position detection sensor for detecting the position of a massage module according to an embodiment of the present disclosure.

[0062] Explanation of reference numerals in the attached figures 100: Massage device 110: Frame Department 111: Guide rail 500: Massage Module 501: Module housing 510: Base plate 515: Horizontal transfer axis 516: First fixed shaft 517: Slapping Axis 518: First Rotation Axis 519: Second fixed shaft 520: First Massage Unit 521: First Massage Head 522: First head support 526: Slapping Link 530: Second Massage Unit 531: Second massage head 532: Second head support 540: First Guide Board 550: Second guide plate Detailed Implementation The advantages, features, and methods of implementing the disclosed embodiments will become apparent from the accompanying drawings and the following embodiments. However, this disclosure is not limited to the embodiments disclosed below, and can be implemented in various different forms. The purpose of providing these embodiments is solely to complete the disclosure and fully inform those skilled in the art of the scope of the invention.

[0063] The terminology used in this specification is briefly described, and the disclosed embodiments are described in detail.

[0064] The terminology used in this specification has been selected as widely used and common terms as possible, taking into account the functions of this disclosure. However, these terms may be changed based on the intent of those skilled in the art, precedents, or the emergence of new technologies. Furthermore, in certain cases, the applicant has arbitrarily selected certain terms; in such cases, the meanings of the selected terms will be described in detail in the descriptive section of this invention. Therefore, the terms used in this disclosure should be defined based on their inherent meanings and the overall content of this disclosure, and not merely on their names.

[0065] Unless explicitly specified as singular, the singular form in this specification includes the plural form. Conversely, unless explicitly specified as plural, the plural form also includes the singular form.

[0066] Throughout the specification, when a section “includes” a certain component, it means that other components may be included unless otherwise described, rather than excluding other components.

[0067] Furthermore, the term "part" used in this specification refers to a software or hardware component, and a "part" performs certain functions. However, a "part" is not limited to software or hardware. A "part" can be configured to exist in addressable storage media or to reproduce one or more processors. Thus, as an example, a "part" includes: components such as software components, object-oriented software components, class components, and task components; procedures; functions; properties; programs; subroutines; program code segments; drivers; firmware; microcode; circuits; data; databases; data structures; tables; arrays; and variables. The functionality provided by components and "parts" can be provided by combining them into fewer components and "parts," or by further separating them into more components and "parts."

[0068] According to one embodiment of this disclosure, a "part" may be implemented with a processor and memory. The term "processor" should be interpreted broadly to include general-purpose processors, central processing units (CPUs), microprocessors, digital signal processors (DSPs), controllers, microcontrollers, state machines, etc. In some cases, "processor" may refer to application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), etc. The term "processor" may refer to a combination of processing devices, such as a combination of a digital signal processor (DSP) and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors coupled to a DSP core, or any other combination of such configurations.

[0069] The term "memory" should be broadly interpreted to include any electronic component capable of storing electronic information. The term memory can refer to various types of processor-readable media, such as random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic or optical data storage devices, registers, etc. If a processor can read information from memory and / or record information in memory, then the memory can be said to be in a state of electronic communication with the processor. Memory integrated into the processor is in a state of electronic communication with the processor.

[0070] In this specification, an actuator refers to a structure capable of providing driving force. For example, an actuator may include, but is not limited to, an electric motor, a linear motor, an electric motor, a direct current (DC) motor, an alternating current (AC) motor, a linear actuator, an electric actuator, etc.

[0071] In this specification, according to one embodiment, a massage device may refer to a massage device that includes a massage portion that massages a part of the body of a user (u). In this case, the massage portion may include at least one of a body massage portion, an arm massage portion, and a leg massage portion. Alternatively, according to another embodiment, the body massage portion, arm massage portion, and leg massage portion may exist as separate, independent devices (e.g., a body massage device, an arm massage device, and a leg massage device), and the massage device may refer to at least one of these three massage devices.

[0072] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement the invention. Furthermore, in the drawings, parts unrelated to the description may be omitted for the purpose of more clearly illustrating the invention.

[0073] Figure 1 This is a diagram illustrating a massage device according to an embodiment of the present invention.

[0074] A massage device 100 according to an embodiment of the present disclosure may include a massage section that forms an area for accommodating at least a portion of a user's body, supports the user's body, and massages a portion of the user's body.

[0075] The massage unit may include at least one of the following massage units: a body massage unit 101 for massaging the user's body; an arm massage unit 102 for massaging the user's arms; and a leg massage unit 103 for massaging the user's legs.

[0076] The body massage unit 101 can massage at least a portion of at least one of the user's upper body and lower body. Specifically, the body massage unit 101 may include: a frame unit 110, which forms the frame of the body massage unit 101 and supports the user's body; a user input unit 140, for receiving input of any form from the user; and an audio output module 150, for providing audio output of any form to the user. Additionally, as described later, the body massage unit 101 may include: a massage module (e.g., Figure 3 The massage module 170 provides massage functionality to at least a part of the user's body; and the sensor unit (e.g., Figure 3 The sensor unit 180 senses the position of the user's body to prevent the user's body from getting stuck. The structure included in the body massage unit 101 described above is only an exemplary embodiment. In addition to the aforementioned structure, the body massage unit 101 may also include various other structures.

[0077] In addition, such as Figure 1 The shape and structure of the massage device 100 shown are merely exemplary, and various forms of massage devices 100 should also fall within the scope of this disclosure without departing from the scope defined by the claims of this disclosure.

[0078] The body massage unit 101 can be formed into a space of any shape to accommodate the user. The body massage unit 101 can be configured with a space whose shape corresponds to the user's body shape. For example, as... Figure 1 As shown, the body massage unit 101 can be implemented in a seated form capable of accommodating the entire body or part of the user's body, to support at least a portion of the user's body. For example, the body massage unit 101 may include: a backrest part for supporting at least a portion of the user's upper body; and a seat part for supporting at least a portion of the user's lower body.

[0079] The part of the body massage unit 101 that contacts the ground may include any material or component for increasing friction (e.g., an anti-slip mat, etc.) and may include wheels for enhancing the mobility of the massage device 100.

[0080] At least a portion of the body massage unit 101 is slidable. For example, when the body massage unit 101 begins to massage (or when the body massage unit 101 is actuated), the body massage unit 101 can move in a manner that slides forward and tilts backward. As a result, the body massage unit 101 can provide massage in a backward tilted state. In this disclosure, "forward" refers to the frontal direction of the massage device 100, which may refer to the direction faced by the user sitting in the seated massage device 100, and "rear" refers to the rearal direction of the massage device 100, which may refer to the direction faced by the back of the user sitting in the seated massage device. For example, the massage device 100 may include an actuator to tilt the massage device 100 (or body massage unit 101) backward. The massage device 100 can tilt or return the body massage unit 101 to its original state by actuating the aforementioned actuator. At this time, the actuator may be provided in the seating portion of the massage device (e.g., as shown in the image). Figure 2 (The base frame 112 of the frame portion 110, which will be described later).

[0081] The massage device 100 may include at least one airbag (not shown). The airbag may be located in at least a portion of the body massage section 101 (e.g., at least one of the following areas within the entire body massage section 101: the area corresponding to the user's back, the area corresponding to the shoulders, the area corresponding to the waist, the area corresponding to the hips, the area corresponding to the thighs, the area corresponding to the pelvis, or the area corresponding to the perineum), at least a portion of the arm massage section 102, and at least a portion of the leg massage section 103, but is not limited thereto, and may be disposed in multiple portions of the massage device 100. According to one embodiment, the airbag may also be referred to as an "air bag".

[0082] The massage device 100 may include an air supply unit that supplies air to an airbag to inflate it. The air supply unit may be located inside the body massage unit 101 or in the leg massage unit 103. It may also be located in the arm massage unit 102. Alternatively, the air supply unit may be located outside the massage device 100.

[0083] The frame portion 110 can form the framework of the internal structure of the body massage portion 101. In terms of defining the overall shape of the massage device 100 by the frame portion 110, the frame portion 110 can be referred to as the "main frame". The frame portion 110 can be made of metal or plastic materials, etc. For example, the frame portion 110 can be made of iron, alloy, steel, etc., but is not limited to these, and can also be made of various sturdy materials.

[0084] The massage device 100 may include a massage module (e.g.: Figure 3 Massage module 170).

[0085] The massage module 170 can be disposed inside the body massage unit 101 to provide any form of mechanical stimulation to a user accommodated in the body massage unit 101. The massage module may include at least one actuator.

[0086] like Figure 1 As shown, the massage module can move along the frame portion 110 disposed inside the body massage unit 101. In other words, the massage module 170 can move along the frame portion 110 and massage (or provide massage to at least a part of the user's body). According to one embodiment, the massage module may be referred to as a "body massage module".

[0087] The frame 110 of the body massage unit 101 may include a rack 111a (or guide rail), along which the massage module provides mechanical stimulation to various parts of the user's body as it moves. In other words, the rack 111a of the frame 110 can be a movement path for the massage module 170. For example, the massage module 170 can provide various massages to the user, such as patting or kneading at least one body part among the user's back, shoulders, waist, hips, thighs, and pelvis. The massage module may include, but is not limited to, at least one massage unit among ball massage units and roller massage units.

[0088] The arm massage unit 102 can be disposed on at least one side of the body massage unit 101, on one side and the other side. For example, the arm massage unit 102 may include at least one of the following arm massage units: a first arm massage unit disposed on one side of the body massage unit 101 for massaging one side of the user's arm; and a second arm massage unit disposed on the other side of the body massage unit 101 for massaging the other side of the user's arm. The first arm massage unit and the second arm massage unit may be based on a control unit for controlling the massage device 100 (e.g., ...). Figure 3 The control of (120) allows for at least one of the following actions: independent action, relative action, quasi-linked action, or linked action. Here, "quasi-linked action" can refer to at least one part of a constituent element acting independently or relatively relative to another constituent element, while another part of the constituent element acts in linkage with the other constituent element.

[0089] The arm massage unit 102 can provide an arm placement unit 1021. The arm placement unit 1021 can accommodate the user's arm.

[0090] The arm massage unit 102 may be equipped with multiple airbags. According to one embodiment, the arm massage unit 102 can provide arm massage by applying pressure to the user's arm through the airbags of the arm massage unit 102. At this time, with the user's arm placed on the arm placement part 1021, the position of the user's arm can be stably fixed by the expansion of the airbags configured in the arm massage unit 102. The multiple airbags configured in the arm massage unit 102 are selectively expanded or contracted under the control of the control unit 120, thereby enabling pressure on the user's arm from the outside to the inside. The pressing action of the multiple airbags configured in the arm massage unit 102 can be performed periodically or non-periodically, and driven in at least one synchronous or asynchronous manner. In this disclosure, "periodic" can mean that the action of at least one component is performed in a regular manner, and "non-periodic" can mean that the action of at least one component is performed in an irregular manner. Furthermore, in this disclosure, "synchronous drive" can refer to the simultaneous execution of the action of at least one component with the action of at least one other component, while "asynchronous drive" can refer to the execution of the action of at least one component and the action of at least one other component in parallel, with a time difference between them. For example, the pressing action of multiple airbags configured in the arm massage unit 102 can be performed periodically or non-periodically, and such periodic or non-periodic action can be performed simultaneously by multiple airbags or with a time difference between multiple airbags.

[0091] The arm massage unit 102 may also be provided with an arm massage module, which includes at least one massage unit selected from ball massage units and roller massage units. According to one embodiment, when the user places their arm on the arm placement unit 1021, the arm massage module is additionally or alternatively driven in response to the inflation of the airbag, thereby providing arm massage.

[0092] The leg massage unit 103 may be disposed at the lower part of the body massage unit 101 and / or at the lower front part of the massage device 100. The leg massage unit 103 may include at least one of the following arm massage units: a first leg massage unit disposed on one side of the body massage unit 101 for massaging one leg of the user; and a second leg massage unit disposed on the other side of the leg massage unit 103 for massaging the other leg of the user.

[0093] The leg massage unit 103 includes a receiving space for accommodating a user's legs and can provide leg massage to the user by massaging at least a portion of the user's legs. For example, the leg massage unit 103 may include a calf massage unit for massaging the user's lower legs and / or a foot massage unit for massaging the user's feet.

[0094] The leg massage unit 103 can be adjusted in length according to the user's body characteristics. More precisely, the length of the leg massage unit 103 can be adjusted by lengthening or shortening the distance between one end of the leg massage unit 103. For example, when a tall user uses the massage device 100, the length of the leg massage unit 103 needs to be increased because the user's calves are longer. Conversely, when a short user uses the massage device 100, the length of the leg massage unit 103 needs to be shortened because the user's calves are shorter. Therefore, the leg massage unit 103 can provide leg massage that is proportionate to the user's height.

[0095] The leg massage unit 103 may include a leg rest 1031 that provides the aforementioned accommodating space. The leg massage unit 103 may include a first leg massage unit and a second leg massage unit corresponding to the user's legs. The leg rest 1031 may include a first leg rest and a second leg rest 1031 to accommodate the user's legs. Corresponding to the aforementioned first leg massage unit and second leg massage unit (or first rest and second rest 1031), each leg massage unit, as a structure providing the aforementioned accommodating space, may also include a calf massage unit and / or a foot massage unit. In the following description, "lengthening" of the leg massage unit 103 may refer to "lengthening" of the leg rest 1031, and "shortening" of the leg massage unit 103 may refer to "shortening" of the leg rest 1031.

[0096] The leg massage unit 103 may include multiple airbags. According to one embodiment, the leg massage unit 103 can provide leg massage by applying pressure to the user's legs using the airbags. When the user places their legs on the leg rest 1031, the position of the user's legs can be stably fixed by the expansion of the airbags disposed in the leg massage unit 103. The multiple airbags disposed in the leg massage unit 103 can selectively expand or contract under the control of the control unit 120, thereby pressing the user's legs from the outside to the inside. The pressing action of the multiple airbags disposed in the leg massage unit 103 can be performed periodically or non-periodically, and driven in at least one of synchronous and asynchronous modes.

[0097] The leg massage unit 103 may also be provided with a leg massage module, which includes at least one massage unit selected from ball massage units and roller massage units. According to one embodiment, when the user places their legs on the leg rest 1031, the leg massage module is additionally or alternatively driven in response to the inflation of the airbag, thereby providing leg massage.

[0098] The seat area 104 of the massage device 100 may include: an upper body support for supporting the user's upper body; and a lower body support for supporting the user's lower body. The upper body support contacts and supports the user's upper body (specifically, from the head to the back), while the lower body support contacts and supports the user's body in the area below the upper body support, such as the buttocks and thighs.

[0099] The user input unit 140 can receive commands related to the operation and control of the massage device 100 from the user. The user input unit 140 can be implemented in various forms. For example, the user input unit 140 can be provided in the body massage unit 101, the arm massage unit 102, or the leg massage unit 103, but is not limited to these. In addition to the user input unit 140, the massage device control device 200 may also be provided as an input unit for controlling the operation of the massage device 100.

[0100] The massage device 100 can obtain various commands from the user through the user input unit 140. For example, the massage device 100 can receive any commands, but is not limited to, regarding the selection of massage module, massage mode, massage intensity, massage time, massage area, position and movement of the body massage unit 101, on / off power supply of the massage device 100, whether to activate the heating function, and audio source playback.

[0101] The massage device 100 may include an audio output module 150. The audio output module 150 may be located in various positions. For example, the audio output module 150 may include multiple output units, such as an upper audio output unit located at the upper end of the seat area 104 that is in contact with the user sitting on the massage device 100, and / or a front audio output unit attached to the front end of the left / right arm massage section 102 of the seat area 104, and / or a rear audio output unit attached to the rear end of the arm massage section 102, etc., but is not limited thereto.

[0102] In this case, the audio output module 150 can provide stereo sound such as 5.1 channels, but is not limited to this.

[0103] According to one embodiment of this disclosure, a user can control a massage device 100 using a massage device control device 200. The massage device control device 200 can be connected to the massage device 100 via wired and / or wireless communication.

[0104] The massage device control device 200 can list various modes of medical massage related to body improvement. For example, the medical massage modes included in the list may include at least one of the following: concentration mode, meditation mode, recovery mode, stretching mode, sleep mode, vitality mode, golf mode, hip shaping mode, exam mode, weightlessness mode, and growth mode.

[0105] The massage device control device 200 may include at least one of the following user devices: a remote controller, a cellular phone, or a personal digital assistant (PDA), but is not limited thereto, and may include various electronic devices that can be connected to the massage device 100 via wired or wireless communication.

[0106] Figure 2 This is a diagram illustrating a massage device according to an embodiment of the present invention.

[0107] The frame portion 110 may be used to form a massage device (e.g., Figure 1 The structure of the skeleton of the massage device 100. For example, the frame part 110 may be the structure that forms the skeleton of the body massage part 101.

[0108] The frame portion 110 may include a body frame 111 and a base frame 112 supporting the body frame 111. The body frame 111 is disposed above the base frame 112 and supports the user's upper body, and can therefore be referred to as the "main frame". A massage module (e.g., massage module) may be provided in the body frame 111. Figure 3 Massage module 170).

[0109] At least a portion of the body frame 111 may be provided with a rack 111a. The rack 111a may be a component for guiding the movement of the massage device 100 (e.g., movement in at least one direction, either upper or lower, of the massage device 100). The rack 111a may include a plurality of valleys and a plurality of ridges. According to one embodiment, a guide rail may be additionally or alternatively configured relative to the rack 111a.

[0110] According to one embodiment, racks 111a can be arranged facing each other on both sides of the body frame 111. Additionally, the massage module 170 can be configured to move along the racks 111a.

[0111] exist Figure 2 In the massage device 100, the rack 111a may be formed in a form that extends relatively long along the upper and lower sides, but is not limited thereto. The rack 111a may include racks in the front-back direction and racks in the up-down direction.

[0112] The massage module 170 may include gears that mesh with rack 111a. More specifically, the massage module may include gears that mesh with racks in the forward-backward direction and racks in the up-down direction, respectively. The gears are rotated by an actuator disposed in the massage module, thereby allowing the massage module to move forward, backward, up, or down.

[0113] As the massage module moves forward, the massage intensity can increase. Conversely, as the massage module moves backward, the massage intensity can decrease. Here, "moving forward" can mean the massage module moves toward the user, and "moving backward" can mean the massage module returns to its position before moving toward the user.

[0114] The rack 111a can be made of metal or plastic. For example, the rack 111a can be made of iron, steel, alloy, reinforced plastic, melamine resin, phenolic resin, etc., but is not limited to these.

[0115] In this disclosure, rack 111a is disclosed as a component for guiding the movement of the massage module. According to an embodiment, the massage device 100 may include a track structure additionally or alternatively provided relative to rack 111a.

[0116] The body frame 111 can be implemented in a variety of shapes. For example, depending on the shape, the body frame 111 can be divided into S-frame, L-frame, S&L-frame, double S&L-frame, but is not limited to these.

[0117] An S-frame refers to a frame in which at least a portion of the body frame 1111 has an S-shaped bend. An L-frame refers to a frame in which at least a portion of the body frame 1111 includes an L-shaped bend. An S&L frame refers to a frame that includes both an S-shaped bend and an L-shaped bend. A double S&L frame refers to a frame that includes an L-shaped bend and two S-shaped bends.

[0118] The base frame 112 refers to the part of the frame portion 110 that supports the body frame 111 and is in contact with the ground. The base frame 112 may include an upper base frame 112a and a lower base frame 112b.

[0119] The upper base frame 112a can support the body frame 111, and the lower base frame 112b can be connected to the ground. The upper base frame 112a can be positioned in a manner that connects to the lower base frame 112b.

[0120] According to one embodiment of this disclosure, the upper base frame 112a is movable along the lower base frame 112b. For example, the upper base frame 112a is movable forward or backward along the lower base frame 112b. In this case, the body frame 111 is connected to the upper base frame 112a, thereby being able to move with the movement of the upper base frame 112a.

[0121] For example, when the upper base frame 112a moves forward, the body frame 111 can also move forward together; when the upper base frame 112a moves backward, the body frame 111 can also move backward together. This allows the body massage unit 101 to slide.

[0122] Specifically, to allow movement of the upper base frame 112a, a moving wheel can be provided at the lower part of the upper base frame 112a. Additionally, a guide member capable of guiding the moving wheel can be provided at the upper part of the lower base frame 112b. The moving wheel provided in the upper base frame 112a moves along the guide member provided in the lower base frame 112b, thereby allowing the upper base frame 112a to move forward or backward.

[0123] According to another embodiment of this disclosure, the massage device 100 may not provide a sliding function. In this case, the base frame 112 may not be divided into an upper frame and a lower frame.

[0124] Figure 3 This is a diagram illustrating the specific structure of a massage device according to an embodiment of the present invention.

[0125] According to one embodiment of the present invention, the massage device 100 may include a body massage unit 101, an arm massage unit 102, a leg massage unit 103, a frame unit 110, a control unit 120, a storage unit 130, a user input unit 140, an audio output module 150, a network connection unit 160, a massage module 170, and a sensor unit 180. In the massage device 100, at least one of these components (e.g., the sensor unit 180) may be omitted, or one or more other components (e.g., an interface unit) may be added. In one embodiment, a portion of these components (e.g., the control unit 120, the user input unit 140, and / or the control unit 120 and the network connection unit 160) may be combined into a single component (e.g., the control unit 120).

[0126] The specific structure of the massage device 100 of one embodiment of the present invention not described below may be related to the following... Figure 1 and Figure 2 The massage device 100 described has the same or similar specific structure. Figure 3In the following embodiments, unless otherwise stated, the specific structure of the massage device 100 can be described from the description of the relevant embodiments. Figure 1 and Figure 2 The description of the components that are the same as or similar in structure to the massage device 100 is used in the context of this application. Figure 3 In the following embodiments, the description of the specific structure of the massage device 100 should be understood as an additional description of the embodiments that supplement the previously described embodiments, unless otherwise agreed upon. Figure 1 and Figure 2 This conflictes with the description of the specific structure of the massage device 100.

[0127] The control unit 120 can control the overall movement of the components included in the massage device 100. For example, the control unit 120 can control the structure of at least one of the body massage unit 101, arm massage unit 102, leg massage unit 103, frame unit 110, storage unit 130, user input unit 140, audio output module 150, network connection unit 160, massage module 170, and sensor unit 180. For example, the massage device 100 can be controlled by controlling the movement of the actuators and / or airbags included in the massage module 170.

[0128] The control unit 120 can be implemented by one or more processors. When the control unit 120 is implemented by multiple processors, at least some of the processors can be located at physically spaced distances from each other. However, the control unit 120 is not limited to this and can be implemented in various ways.

[0129] For example, the control unit 120 may include one or more processors. The processor may be implemented by an array of multiple logic gates, or by a combination of a general-purpose microprocessor and a memory storing a program executable in the microprocessor. Furthermore, those skilled in the art will understand that other types of hardware can be used. For example, the control unit 120 may be implemented using application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, and electronic units for performing other functions.

[0130] The control unit 120 can control the operation of the massage device 100 by controlling multiple actuators.

[0131] For example, the massage device 100 may include at least one of the following: a motion actuator for moving the massage module 170 along the frame portion 110; at least one actuator included in the massage module 170; a back angle actuator; an actuator for moving the armrest frame support portion; a leg angle actuator; a foot massage actuator; a leg length adjustment actuator; and a sliding actuator. The control unit 120 can control the operation of the massage device 100 by controlling at least one of these structures.

[0132] The motion actuator of the massage module 170 can be an actuator capable of moving the massage module 170 itself in at least one of the following directions: up, down, forward, and backward. Through the action of the massage module motion actuator, the massage module 170 can move along the rack 111a (or guide rail) of the frame portion 110.

[0133] The massage module 170 may also include at least one actuator, and the control unit 120 can provide various massage actions by actuating the at least one actuator. For example, the control unit 120 can provide rolling massage, tapping massage, kneading massage, etc., by actuating the at least one actuator in the massage module 170, and is not limited to this, and can provide various massage actions. The at least one actuator included in the massage module can be various actuators such as forward / backward actuators and massage actuators. The forward / backward actuator can cause the massage module 170 to move forward / backward (or tilt) in at least one direction, either forward or backward. The massage actuator can cause the massage module 170 to perform various movements, thereby providing various massage actions for the user.

[0134] The back angle actuator is an actuator that adjusts the angle of the part of the massage device 100 that contacts the user's back. The back angle of the massage device 100 can be adjusted by the operation of the back angle actuator.

[0135] The actuator that moves the armrest frame support is used to adjust the position of the armrest placement part where the user's arm is located in the massage device 100. The position of the armrest placement part, i.e. the position of the arm massage part 102, can be adjusted by the actuator that moves the armrest frame support.

[0136] The leg angle actuator is an actuator used to adjust the angle of the leg massage section 103 of the massage device 100. The angle between the leg massage section 103 and the body massage section 101 can be adjusted by the action of the leg angle actuator.

[0137] A foot massage actuator is an actuator used to actuate the foot massage module included in the leg massage unit 103. For example, the control unit 120 can provide foot massage to a user by using the foot massage actuator.

[0138] The leg length adjustment actuator is an actuator used to adjust the length of the leg massage unit 103. For example, the control unit 120 can use the leg length adjustment actuator to adjust the length of the leg massage unit 103 to match the user, so that the user can enjoy a massage that matches their body shape.

[0139] The sliding actuator enables the massage device 100 to perform sliding movements. For example, the upper base frame 112a can be moved forward or backward by the action of the sliding actuator, so that the body frame 111 connected to the upper base frame 112a can also be moved forward or backward.

[0140] In addition, in this disclosure, Figure 1The airbag and / or air supply unit can be considered as a structure included in the massage module 170, and the control unit 120 can control the operation of the massage device 100 by controlling the airbag and / or air supply unit.

[0141] The storage unit 130 can be implemented by one or more memory units. The storage unit 130 can store various information related to the massage device 100. For example, the information stored in the storage unit 130 may include massage control information, and may also include personal authentication information, but is not limited thereto. Information related to the user may include personal authentication information, user biometric information (e.g., age, height, weight, blood pressure, body composition, heart rate, electrocardiogram, etc.), and other user-related information.

[0142] Storage unit 130 can be implemented using a non-volatile storage medium capable of continuously storing arbitrary data. For example, storage unit 130 may include not only 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.

[0143] The storage unit 130 can be a main storage device directly accessed by the processor, such as a random access memory (RAM) like dynamic random access memory (DRAM) or static random access memory (SRAM), or a volatile storage device that instantly deletes stored information when the power is cut off, but is not limited to these. This storage unit 130 can be operated by the control unit 120.

[0144] The user input unit 140 can receive commands related to the motion control of the massage device 100 from the user, and the user input unit 140 can be implemented in various forms.

[0145] The user input unit 140 can have various buttons in the form of hot keys and / or option buttons for selecting, canceling, or inputting execution directions, based on preset user settings or its own preset functions.

[0146] The user input unit 140 can be implemented using a keyboard, dome switch, touchpad (static / electrostatic), jog wheel, jog switch, etc., but is not limited to these. Alternatively, the user input unit 140 can be based on voice recognition technology to obtain commands based on the user's voice.

[0147] The user input unit 140 may include a display for outputting (or displaying) information such as the operation status of the massage device 100 or the user's current state. That is, the user input unit 140 may also function as an output unit for outputting information about the massage device 100. For example, the user input unit 140 may receive user input and send it to the control unit 120. Furthermore, the user input unit 140 may display information about the massage device 100. For example, the display included in the user input unit 140 may output various information such as operation information of at least one of the body massage unit 101, arm massage unit 102, and leg massage unit 103, and information about the massage mode being performed.

[0148] In this case, the display may include at least one of, but is not limited to, liquid crystal display (LCD), thin film transistor-liquid crystal display (TFT LCD), organic light-emitting diode (OLED), flexible display, and 3D display. The display may be provided in the form of a touch screen and may be configured to allow a user to perform input by touching the display.

[0149] On the other hand, the user input section is not limited to the above embodiments. The user input section may include... Figure 3 User input unit 140, massage device control device 200 or Figure 4 The user input section of the various external devices mentioned above.

[0150] The audio output module 150 is capable of providing audio output to the user in any form. For example, the audio output module 150 outputs a sound source and / or binaural beat optimized for the massage method provided by the massage device 100, thereby providing brain stimulation to the user. The audio output module 150 can output audio signals received via the network connection unit 160 or stored in an internal / external storage medium (not shown).

[0151] For example, the audio output module 150 can output an audio source controlled by the user terminal via the user terminal and the network connection unit 160. Additionally, the audio output module 150 can output any form of sound signal generated in association with the operation of the massage device 100.

[0152] The network connection unit 160 can receive signals transmitted from external devices or transmit signals about the massage device 100 to external devices. For example, the control unit 120 can obtain a result signal by processing the signal received via the network connection unit 160 and can transmit the result signal to the network connection unit 160. The network connection unit 160 can transmit (or output) the result signal to an external device.

[0153] The network connection unit 160 can communicate with modules inside the massage device 100, external massage devices, and / or user terminals via any type of network. The network connection unit 160 may include a wired / wireless connection module for network connectivity. Wireless connectivity technologies such as Wireless LAN (WLAN) (Wi-Fi), Wireless Broadband (Wibro), World Interoperability for Microwave Access (WiMAX), and High Speed ​​Downlink Packet Access (HSDPA) can be used. Wired connectivity technologies such as Digital Subscriber Line (xDSL), Fiber to the Home (FTTH), and Power Line Communication (PLC) can be used. Furthermore, the network connectivity unit 160 may include a short-range communication module capable of sending and receiving data with nearby devices or terminals. Examples of short-range communication technologies include Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), and ZigBee, but are not limited to these.

[0154] As described above, a massage device 100 according to an embodiment of the present invention may include a massage module 170. The massage module 170 is a structure that provides mechanical stimulation to the user, and the massage module 170 is movable along the frame portion 110. According to the embodiment, the massage module 170 may be configured not only in the body massage portion 101, but also in the arm massage portion 102 and / or the leg massage portion 103.

[0155] The sensor unit 180 may include at least one sensor. The massage device 100 can use the sensor unit 180 to acquire various types of information. The sensor unit 180 may be configured as a sensor using measuring devices such as pressure, potential, and optics. For example, the sensor may include, but is not limited to, pressure sensors, infrared sensors, LED sensors, light sensors, Hall effect sensors, capacitive sensors, contact sensors, electrode sensors, air pressure measuring sensors, etc.

[0156] The sensor unit 180 can be used to acquire various types of information. For example, the sensor unit 180 can be used to identify a user. That is, it can acquire information such as whether the user is seated, the user's body type, the user's weight, and whether the user has any physical abnormalities. In addition, the sensor unit 180 may include a biometric information acquisition sensor. The biometric information acquisition sensor may acquire at least one of the following: fingerprint information, facial information, voice information, iris information, blood pressure information, heart rate (or heartbeat) information, electrocardiogram (ECG) information, body composition information, etc., but is not limited to these, and may include a variety of biometric information. For example, the massage device 100 can provide personalized massage based on the information acquired by the sensor unit 180.

[0157] The massage device 100 can detect the contact area and / or contact position with the user via the sensor unit 180. For example, information obtained from the sensor unit 180 can also be used to obtain information about whether the user's body is in a state of being clamped in the massage device 100.

[0158] The massage device 100 may also include an interface (not shown). The interface may be disposed on at least a portion of the massage device 100. It can be connected to an external device (e.g., other electronic devices, USB, etc.) via the interface.

[0159] Figure 4 This is a diagram illustrating an external device capable of communicating with a massage device 100 according to an embodiment of the present disclosure.

[0160] The massage device 100 can communicate with the external device 300 via the network connection unit 160 via wired and / or wireless means to send and receive various data.

[0161] External device 300 may include portable electronic device 310, such as an AI speaker, tablet, or smartphone. Portable electronic device 310 may be a dedicated or general-purpose portable electronic device for massage device 100. Additionally, external device 300 may include wearable devices 320 such as smartwatches and / or smart bracelets. External device 300 may include other massage devices 330 besides the massage device 100 currently used by the user. External device 300 may include a hospital server 340. External device 300 may include a personal health record (PHR) server. Additionally, external device 300 may include a cloud server 350. External device 300 may include medical measurement devices such as electronic scales, blood glucose meters, or blood pressure monitors.

[0162] Although some examples of external device 300 have been described in this invention, it should be understood that any device that communicates with massage device 100 via wired or wireless communication and can send and receive information with it can be included in external device 300.

[0163] Figure 5 This is a perspective view of a massage module 500 according to an embodiment of the present disclosure. Figure 6 This is a perspective view of a massage module 500 according to an embodiment of the present disclosure. Figure 7 This is a front view of a massage module 500 according to an embodiment of the present disclosure. Figure 8 This is a rear view of a massage module 500 according to an embodiment of the present disclosure. Figure 9 This is a right-side view of a massage module 500 according to an embodiment of the present disclosure. Figure 10 This is a left-side view of a massage module according to an embodiment of the present disclosure.

[0164] Figure 6 It can be shown Figure 5 The massage units 520 and 530, which are arranged adjacent to each other, are moved away from each other along the horizontal transfer axis 515. Figure 7 and Figure 8 It can show about Figure 5 The front view and the back view.

[0165] Figure 5 The following figures illustrate a spatial coordinate system with X, Y, and Z axes. The height direction of the massage module 500 may be parallel to the Y-axis, the width direction may be parallel to the X-axis (horizontal transfer direction), and the length direction may be parallel to the Z-axis (front-back direction). In this disclosure, the arrangement of a component in front or behind can mean that it is positioned in front or behind along the length direction (Z-axis direction) of the massage module 500. Figures 1 to 4The width direction of the massage device 100 shown can be parallel to the width direction (X-axis direction) of the massage module 500.

[0166] The massage module 500 may be a core drive unit configured in the frame portion 110 of the massage device 100, providing massage actions such as kneading, pressing, and patting to the user's body area. The massage module 500 may include a module housing 501, and has the following structure: with the base plate 510 as the center, an assembly including massage units 520 and 530 is installed in the module housing 501.

[0167] In this disclosure, massage actions such as kneading, pressing, and patting can be performed by the motion of the massage units 520 and 530 of the massage module 500. Kneading can be performed by movement in the width direction (X-axis direction) of the massage units 520 and 530; pressing can be performed by rotation about an axis parallel to the width direction (X-axis direction) of the massage units 520 and 530 (the first rotation axis 518 described later); and patting can be performed by movement in the length direction (Z-axis direction) of the massage units 520 and 530. The massage module 500 of this disclosure can be driven independently, relatively, quasi-linked, or linkedly by the control unit 120 to perform any one of the aforementioned kneading, pressing, and patting actions. For example, the massage module 500 of this disclosure can simultaneously perform pressing and / or patting actions along with kneading. The control unit 120 of the massage module 500 disclosed herein can control the movement of the massage units 520 and 530, combining and mixing the length direction (Z-axis direction), width direction (X-axis direction), and rotation of each massage unit 520 and 530 to provide a massage action of an "infinite loop (∞) pattern (or figure-eight pattern)". The massage module 500 can be formed by the module housing 501. The module housing 501 can protect the internal precision mechanism from external physical impact and define the shape of the massage module 500. For example, the module housing 501 may include a first housing 5011, a second housing 5012, and a third housing 5013. Specifically, the first housing 5011 can form the right side of the massage module 500, the second housing 5012 can form the left side of the massage module 500, and the third housing 5013 can form the back of the massage module 500. The module housing 501, which includes the first housing 5011, the second housing 5012 and the third housing 5013, may have a generally open front cuboid shape, and the base plate 510, the first massage unit 520, the second massage unit 530, the first guide plate 540 and the second guide plate 550 can be stably mounted inside it.

[0168] According to various embodiments of this disclosure, the massage device 100 may include: a frame portion 110; a guide rail 111 disposed on the frame portion 110 and configured to extend along the vertical direction of the frame portion 110; and a massage module 500. The massage module 500 is configured to move along the vertical direction (Z-axis) on the guide rail 111 formed in the frame portion 110 of the massage device 100. For this vertical movement, the massage module 500 may include a first wheel 502 and a second wheel 503.

[0169] The first round 502 can be configured on the outside of the first housing 5011 of the module housing 501, and the second round 503 can be configured on the outside of the second housing 5012.

[0170] Wheels 502 and 503 may each include multiple wheels. For example, the first wheel 502 may include a first lower wheel 5021 and a first upper wheel 5022, and the second wheel 503 may include a second lower wheel 5031 and a second upper wheel 5032. Through these wheels, the massage module 500 can ensure a stable contact surface on the track 110a and move upward or downward.

[0171] The drive unit 505, which provides driving force during movement, can be connected to the first wheel 502 and / or the second wheel 503. According to one embodiment, the drive unit 505 can be connected to the first lower wheel 5021 and / or the second lower wheel 5031, in which case the first pinion 5023 formed on the first lower wheel 5021 and the second pinion 5033 formed on the second lower wheel 5031 can mesh with the rack 111a (or guide rail) of the frame portion 110 and transmit power.

[0172] The first wheel 502 and the second wheel 503 can be connected to each other and move synchronously left and right via a travel shaft 504. The travel shaft 504 can be defined and / or referred to as a "travel guide shaft 504". The travel shaft 504 has a length extending relatively far along the width direction of the massage module 500, allowing the massage module 500, with the first wheel 502 and the second wheel 503 connected at the left and right ends, to travel along the guide rail 111 in the vertical direction of the frame portion 110. The travel shaft 504 may include a first travel shaft 5041 and a second travel shaft 5042. The first travel shaft 5041 may be positioned below the massage module 500, and the second travel shaft 5042 may be spaced a predetermined distance from the first travel shaft 5041 and positioned above the massage module 500. The first travel shaft 5041 may connect to the first lower wheel 5021 and the second lower wheel 5031, and the second travel shaft 5042 may connect to the first upper wheel 5022 and the second upper wheel 5032. Because the travel axle 504 has a long length and a rigid structure, it ensures the coordinated movement of the left and right wheels 502 and 503 and improves the structural rigidity of the massage module 500.

[0173] According to this disclosure, the massage module 500 includes: a base plate 510; a horizontal transfer shaft 515 extending along the width direction of the massage device 100 and configured not to rotate relative to the base plate 510; a first massage unit 520 including at least one massage head 521 movable along the horizontal transfer shaft 515 on one side of the base plate 510; and a second massage unit 530 including at least one massage head 531 movable along the horizontal transfer shaft 515 on the other side of the base plate 510. The massage module 500 may include a first massage unit 520 and a second massage unit 530 movable along the width direction (X-axis direction) of the user's body. These units are movable along the horizontal transfer shaft 515 coupled to the base plate 510. The base plate 510 is a structure located approximately centrally in the massage module 500 and provides a reference surface for the movement of the massage units 520 and 530.

[0174] The first massage unit 520 may include at least one first massage head 521, and the second massage unit 530 may include at least one second massage head 531.

[0175] The first massage unit 520 can receive driving force through a first motor 525 located at the rear, and the second massage unit 530 can receive driving force through a second motor 535 located at the rear. For example, the first motor 525 and the second motor 535 can each be a small BLDC motor.

[0176] The first massage unit 520 may include a first motor 525 that powers horizontal movement on the horizontal transfer axis 515, and the second massage unit 530 may include a second motor 535 that powers horizontal movement on the horizontal transfer axis 515. According to one embodiment, the second massage unit 530 may be configured to be driven independently of the first massage unit 520. According to one embodiment, the massage units 520 and 530 may move left and right along the horizontal transfer axis 515 to perform kneading actions. The first massage unit 520 and the second massage unit 530 may not only move independently of each other, but may also move relative to, quasi-linked, or linked. Here, "quasi-linked" can mean that a part of one component does not move in conjunction with another component, while another part moves in conjunction with another component.

[0177] Since the first motor 525 and the second motor 535 are independently controlled by the control unit 120, it is possible to provide the technical advantage that each massage unit 520, 530 can move independently, relative to each other, quasi-linked, or linked. This means that a more precise and personalized massage can be provided to the user by flexibly controlling the interval and movement pattern between the massage units 520, 530.

[0178] The massage module 500 can perform pressing motions (tilting forward and backward) to provide deep pressure stimulation to the user's body and patting motions (forward and backward movement (or forward and backward tapping)) for the user's body relaxation.

[0179] The pressing action (tilting in the forward / backward direction) can be provided by the power generated by the pressing drive unit 506. The pressing drive unit 506 may include a pressing drive motor 5061, the power of which can rotate the second travel shaft 5042. The second travel shaft 5042 may have a first gear 5043 and a second gear 5044 fixed at mutually spaced positions. The power generated by the pressing drive unit 506 can be transmitted to the first guide plate 540 and the second guide plate 550 via the first gear 5043 and the second gear 5044 of the second travel shaft 5042. When the pressing drive unit 506 provides power, the second travel shaft 5042 rotates, which can cause the first guide plate 540 and the second guide plate 550 to tilt simultaneously.

[0180] According to one embodiment, a first guide gear 541 may be formed on the upper part of the first guide plate 540, and a second guide gear 551 may be formed on the upper part of the second guide plate 550. The first guide gear 541 and the second guide gear 551 may be configured corresponding to the arc portions of the first guide plate 540 and the second guide plate 550, which are respectively fan-shaped. A first gear 5043 and a second gear 5044 formed at positions spaced apart from each other on the second travel shaft 5042 may mesh with the first guide gear 541 of the first guide plate 540 and the second guide gear 551 of the second guide plate 550. Through this gear meshing structure, the power of the press drive motor 5061 can cause the first guide plate 540 and the second guide plate 550 to rotate about the first rotation axis 518, thereby enabling a pressing action (tilting in the back-and-forth direction) through the massage units 520 and 530.

[0181] The massage module 500 may include: a tapping shaft 517, which extends parallel to the horizontal transfer shaft 515 along the width direction (X-axis direction) of the massage device 100, passes through the base plate 510 and is connected to the first massage unit 520 and the second massage unit 530 respectively; and a tapping motor 511, which is disposed on one side of the base plate 510 and provides rotational power to the tapping shaft 517.

[0182] The tapping motion (forward and backward movement (or forward and backward tapping)) can be performed by power provided by the tapping motor 511 of the base plate 510. This power causes the tapping shaft 517 to rotate, and through the rotational movement of the tapping shaft 517, the first massage unit 520 and the second massage unit 530 can perform a rapid tapping motion (forward and backward movement (or forward and backward tapping)) in the forward and backward direction. According to one embodiment, as Figure 28The tapping shaft 517 may have a structure in which the side where the first massage unit 520 is disposed and the side where the second massage unit 530 is disposed are eccentric to each other. Therefore, it can be configured such that the tapping action of the first massage unit 520 and the tapping action of the second massage unit 530 alternately move forward and backward in opposite directions. For example, if the tapping shaft 517 rotates during the tapping action, the first massage unit 520 and the second massage unit 530 can be viewed from the side (see reference). Figure 17 and Figure 18 When the first massage unit 520 moves forward while the second massage unit 530 moves backward, and then after they are aligned again, the second massage unit 530 moves forward while the first massage unit 520 moves backward, and this movement is repeated.

[0183] The tapping action described above can be performed independently, relative to, quasi-linked, or linked to the pressing action of the pressing drive unit 506.

[0184] As described above, the main axis in the massage module 500 can be a core component that ensures the precise movement of the massage units 520 and 530 and provides structural stability.

[0185] At least one of the ends of the horizontal transfer shaft 515 includes a fixing structure, which allows the horizontal transfer shaft 515 to be positioned and fixed to at least one of the first guide plate 540 and the second guide plate 550. Here, the fixing structure of at least one of the ends of the horizontal transfer shaft 515 may have a stepped shape at the end forming the shaft 515, i.e., for example, a D-shaped cut structure. The horizontal transfer shaft 515 may be disposed through the base plate 510, and may have one end and / or the other end connected and fixed to the first guide plate 540 and / or the second guide plate 550. A gear structure may be formed on the surface of the horizontal transfer shaft 515, and the first massage unit 520 and the second massage unit 530 may be configured to mesh with this gear structure and be able to move left and right. In particular, one end and / or the other end of the horizontal transfer shaft 515 is formed with a D-shaped cut structure, so that the horizontal transfer shaft 515 can be firmly fixed without rotation when the massage units 520, 530 move along the shaft.

[0186] The first fixed axis 516 can be set parallel to the horizontal transfer axis 515, and while keeping the approximate position (e.g., height) of the first massage unit 520 and the second massage unit 530 constant, the position of the first head support 522 of the first massage unit 520 and the second head support 532 of the second massage unit 530 can be fixed.

[0187] The tapping shaft 517 can be arranged parallel to the horizontal transfer shaft 515 and the first fixed shaft 516, and can be fixedly connected to the base plate 510. For example... Figure 28 As shown, the tapping axis 517 may include a first tapping axis 5172 and a second tapping axis 5173 having axes that are biased to one side and the other side, which can provide independent, linked tapping actions for each massage unit 520, 530.

[0188] The massage module 500 may include: a first rotating shaft 518 extending parallel to the horizontal transfer shaft 515 in the width direction (X-axis direction); a first guide plate 540, with a first massage unit 520 disposed between the first guide plate 540 and the base plate 510, and guiding the first massage unit 520 to tilt in the front-back direction with reference to the first rotating shaft 518; and a second guide plate 550, with a second massage unit 530 disposed between the second guide plate 550 and the base plate 510, and guiding the second massage unit 530 to tilt in the front-back direction with reference to the first rotating shaft 518.

[0189] The first rotating shaft 518 serves as a rotation reference axis for the first guide plate 540 and the second guide plate 550 during the pressing action of the massage module 500. The first rotating shaft 518 can pass through the base plate 510, the first massage unit 520, the second massage unit 530, the first guide plate 540, and the second guide plate 550. One end and the other end of the first rotating shaft 518 can be connected to the first housing 5011 and the second housing 5012 of the module housing 501, respectively.

[0190] According to one embodiment, the massage module 500 may further include a second fixed shaft 519 extending through the first massage unit 510 and / or the second massage unit 520. According to another embodiment, in addition to the first fixed shaft 516, a second fixed shaft 519 is further included, making the connection structure between the first massage unit 510 and the second massage unit 520 more robust, thereby enabling the compound movements of the massage module 500 to be executed more stably.

[0191] The massage module 500 may include a battery 507 for supplying power required for the overall operation of the massage module 500. According to one embodiment, the battery 507 may be disposed on the inner lower surface of the massage housing 501, thereby providing power for at least one of the following actions: vertical movement of the massage module 500, horizontal movement of the massage units 520, 530, forward and backward tilting of the pressing action, and forward and backward movement of the patting action.

[0192] Furthermore, various sensing units can be provided to achieve precise motion control of the massage module 500. For example, tapping position sensing units 5174 and 543 for detecting tapping position and / or sensing units 5034, 553, and 554 for detecting pressing angle can be disposed on the outer side of the first guide plate 540 and the outer side of the second guide plate 550. In addition, on the outer side of the module housing 501, a sensing unit 5035 for detecting the overall position of the massage module 500 (the vertical position relative to the massage device 100 of the massage module 500, etc.) can be provided on at least one of the outer side of the first housing 5011 and the outer side of the second housing 5012. The above-mentioned sensing unit structures can be described in detail with reference to separate drawings.

[0193] Figure 11 This may be a perspective view of a massage module 500 according to an embodiment of the present disclosure, including a first wheel 502, a second wheel 503, a travel axle 504 connecting the first wheel 502 and the second wheel 503, and a module housing 501 supporting the travel axle 504. Figure 11 The configuration of the drive unit 505 for moving the massage module 500 up and down and the pressing drive unit 506 for tilting in the forward and backward directions can be specifically shown, as well as the position and structure of the battery 507 that serves as the power source for the entire system.

[0194] Figure 11 Show Figures 5 to 10 The components of base plate 510, first massage unit 520, second massage unit 530, first guide plate 540, and second guide plate 550 are omitted in the massage module 500.

[0195] The module housing 501 can effectively separate and protect the internal components (the base plate 510, the first massage unit 520, the second massage unit 530, the first guide plate 540, and the second guide plate 550) from external impacts and foreign objects. The module housing 501 may include a first housing 5011 and a second housing 5012, which can form the left and right sides of the massage module 500. For example, the first housing 5011 can form the right side of the massage module 500, and the second housing 5012 can form the left side of the massage module 500.

[0196] The third housing 5013 may form the back surface of the massage module 500. According to one embodiment, the third housing 5013 may be formed in the form of a frame. For example, the third housing 5013 may include a first horizontal frame 50131 and a second horizontal frame 50132 extending along the width direction of the massage module 500 to connect the first housing 5011 and the second housing 5012. (See also...) Figure 11The third housing 5013 may include a first horizontal frame 50131 located above the massage module 500 and a second horizontal frame 50132 located below the first horizontal frame 50131. However, the positions of the first horizontal frame 50131 and the second horizontal frame 50132 are not limited to any particular embodiment. Figure 11 The diagram shows a first horizontal frame 50131 located at the upper end of the massage module 500 and a second horizontal frame 50132 located at the lower end. However, as long as the first horizontal frame 50131 is located at the upper end of the massage module 500 and at least one of the second horizontal frames 50132 is used to connect the first housing 5011 and the second housing 5012, they can be configured in positions different from those shown in the figures. For example, the second horizontal frame 50132 can also be configured to connect the first housing 5011 and the second housing 5012 at the center of the massage module 500. Furthermore, the third housing 5013 can also include other horizontal frames besides the first horizontal frame 50131 and the second horizontal frame 50132, or either the first horizontal frame 50131 or the second horizontal frame 50132 can be omitted. Alternatively, the third housing 5013 can be configured as a wider flat plate rather than a long, thin frame.

[0197] The wheels 502 and 503 for moving the massage module 500 up and down can be configured to allow the massage module 500 to move smoothly along the body frame 111 included in the frame portion 110 of the massage device 100. The first wheel 502 can be disposed on the outside of the first housing 5011, and the second wheel 503 can be disposed on the outside of the second housing 5012.

[0198] The first wheel 502 and the second wheel 503 may each include multiple wheels. For example, the first wheel 502 may include a first lower wheel 5021 and a first upper wheel 5022, and the second wheel 503 may include a second lower wheel 5031 and a second upper wheel 5032. According to one embodiment, the first wheel 502 and the second wheel 503 may be arranged adjacent to each other on the front side of the module housing 501. These wheels can achieve stable up-and-down movement of the massage module 500 through stable contact with the track.

[0199] The travel shaft 504 can perform the function of synchronizing the movement of the left and right wheels by securely connecting the first wheel 502 and the second wheel 503, thereby ensuring the horizontal stability of the massage module 500. The travel shaft 504 may include a first travel shaft 5041 and a second travel shaft 5042. In particular, the second travel shaft 5042 in the travel shaft 504 may include a first gear 5043 and a second gear 5044 for tilting in the forward and backward direction (pressing action), and the power of the pressing drive 506 can be transmitted to the first guide plate 540 and the second guide plate 550 through these gears.

[0200] The design of the massage module 500 disclosed herein offers structural advantages, namely, the configuration of the main drive unit and power supply can be flexibly applied to various positions without interfering with the independent horizontal transport movements of the internal core mechanisms, particularly the first massage unit 520 and the second massage unit 530.

[0201] The drive unit 505 can perform the function of providing the core power to move the massage module 500 up or down from the frame portion 110. The power generated by the drive motor 5051 of the drive unit 505 is transmitted to the pinion gear of the wheel, so that the pinion gear rotates in a state of meshing with the rack 111a (or guide rail) of the frame portion 110, thereby adjusting the up and down position of the frame portion 110 of the massage module 500.

[0202] The drive unit 505 provides power for the upward or downward movement of the massage device 100 in the massage module 500, and the press drive unit 506 provides power for the tilting action of the massage units 520 and 530 included in the massage module 500. The battery 507 can supply power to the various motors and electronic components within the massage module 500.

[0203] The drive unit 505 can be configured in various embodiments, located on either the left or right side of the massage module 500. For example, Figures 5 to 10 The structure shown illustrates that the drive unit 505 is configured on the side of the second wheel 503, but as Figure 11 As shown, it is also possible to configure the drive unit 505 for the up-and-down movement massage module 500 on the side of the first wheel 502.

[0204] The battery 507 can also be configured in various positions depending on the configuration of the drive unit 505 described above. For example, Figures 5 to 10 It can be shown that battery 507 is configured on the side of the first wheel 502, but as Figure 11 As shown, it is also possible for battery 507 to be configured on the side of the second wheel 503.

[0205] This configuration flexibility offers design advantages such as optimized internal space utilization of the massage module 500, fine-tuning of the center of gravity, and simplified power transmission paths between the drive units of each axis. Therefore, the massage module 500 can be customized to meet various conditions, including the product specifications required by the massage device 100 and different installation environments of the massage device 100.

[0206] Figure 12 This is a perspective view of a base plate, a first massage unit and a second massage unit disposed on one side and the other side of the base plate, and a first guide plate and a second guide plate, according to an embodiment of the present disclosure. Figure 13This is a front view of a base plate, a first massage unit and a second massage unit disposed on one side and the other side of the base plate, and a first guide plate and a second guide plate, according to an embodiment of the present disclosure. Figure 14 This is a rear view of a base plate, a first massage unit and a second massage unit disposed on one side and the other side of the base plate, and a first guide plate and a second guide plate, according to an embodiment of the present disclosure. Figure 15 This is a right-side view of a base plate, a first massage unit and a second massage unit disposed on one side and the other side of the base plate, and a first guide plate and a second guide plate, according to an embodiment of the present disclosure. Figure 16 This is a left-side view of a base plate, a first massage unit and a second massage unit disposed on one side and the other side of the base plate, and a first guide plate and a second guide plate, according to an embodiment of the present disclosure.

[0207] Figures 12 to 16 The mutual configuration and linkage structure of the base plate 510, the first massage unit 520 and the second massage unit 530, the first guide plate 540 and the second guide plate 550 constituting the internal drive assembly of the massage module 500 according to an embodiment of the present disclosure can be shown in detail from various perspectives.

[0208] Figure 15 and Figure 16 The diagram illustrates the forward rotation of the internal drive assembly of the massage module 500 relative to the first rotation axis 518, representing a pressing action of the massage module 500. Unlike the diagram, the internal drive assembly of the massage module 500 can also rotate backward.

[0209] According to various embodiments of this disclosure, the base plate 510 can be disposed at the center of the massage module 500. The main structure can be arranged symmetrically along the left-right width direction (X-axis direction) with the base plate 510 as a reference. With the base plate 510 as a reference, the first massage unit 520 and the first guide plate 540 are disposed on one side, and the second massage unit 530 and the second guide plate 550 are disposed on the other side. The constituent elements on the side including the first massage unit 520 and the first guide plate 540 and the constituent elements on the other side including the second massage unit 530 and the second guide plate 550 can have substantially the same constituent elements, forming a structure that is symmetrically arranged with the base plate 510 as a reference.

[0210] The first massage unit 520 may have the characteristic of moving independently, relative to, quasi-linked, or linked to the second massage unit 530 on the horizontal transfer axis 515. For example, when the first massage unit 520 and the second massage unit 530 are linked and repeatedly move towards the side located on the base plate 510 and then outward, a kneading action can be achieved. However, it is not limited to this. The control unit 120 can perform local massage on the parts desired by the user by individually and precisely controlling the first massage unit 520 or the second massage unit 530.

[0211] The first massage unit 520 and the second massage unit 530 can be configured to move spatially between the base plate 510, the first guide plate 540, and the second guide plate 550. The massage module 500 may also include stops 528 and 538 on one side and the other side of the base plate 510, respectively, to restrict the movement of the first massage unit 520 and the second massage unit 530. To prevent the massage units from colliding with the base plate 510 or the guide plates 540 and 550 and to limit their range of motion, the massage module 500 may also include stops 528 and 538. (See reference...) Figure 12 The diagram illustrates a first stop 528 disposed in the first massage unit 520 and a second stop 538 disposed in the second massage unit 530, representing one embodiment of the first massage unit 520 and the second massage unit 530 configured at a position corresponding to the first fixed axis 516. However, it should be noted that this is not a limitation. For example, the stops 528 and 538 may also be configured on one side and the other side of the base plate 510, instead of on the massage units 520 and 530, and may be configured at other positions not corresponding to the first fixed axis 516, such as a position corresponding to the second fixed axis 519. Various other embodiments can be applied.

[0212] The first massage unit 520 and the second massage unit 530 may each include a plurality of massage heads 521 and 531. The accompanying drawings show an embodiment in which the first massage unit 520 includes a first upper massage head 5211 and a first lower massage head 5212, and the second massage unit 530 includes a second upper massage head 5311 and a second lower massage head 5312.

[0213] The first upper massage head 5211 and the first lower massage head 5212 can be connected by the first head support 522, and the second upper massage head 5311 and the second lower massage head 5312 can be connected by the second head support 532. The first head support 522 and the second head support 532 can be set so that their positions are fixed by the first fixed axis 516 to realize the tapping action (forward and backward movement).

[0214] The first guide plate 540 and the second guide plate 550 may be integrally fan-shaped, and the top of the fan-shaped area may be rotated around the first rotation axis 518. The first rotation axis 518 may have a structure that extends through the inner sides 5401, 5501 and the outer sides 5402, 5502 of the first guide plate 540 and the second guide plate 550 and is connected to the module housing 501 of the massage module 500.

[0215] The base plate 510 may include a sector-shaped portion corresponding to the first guide plate 540 and the second guide plate 550. Figure 22 (5101, which will be described later) and the portion protruding from the part corresponding to the aforementioned sector ( Figure 22 (5102, described later). The tapping motor 511 for tapping drive can be mounted on the base plate 510. The tapping motor 511 can be configured in a protruding portion of the base plate 510 in a position that does not interfere with the movement of the first massage unit 520 and the second massage unit 530.

[0216] The first guide plate 540 and the second guide plate 550 may each include inner surfaces 5401, 5501 and outer surfaces 5402, 5502, respectively. One end and the other end of the striking shaft 517 may pass through and protrude from the outer surfaces 5402, 5502 of the first guide plate 540 and the second guide plate 550. Here, one end of the striking shaft 517 may be the first striking shaft (described later). Figure 24 The end of the first striking shaft 5172 (described later) Figure 28 The first end 5172d), the other end can correspond to the second striking shaft (described later). Figure 22 The end of the second striking shaft 5173 (described later) Figure 28 (the second end 5173d).

[0217] The striking position can be measured using one end or the other end of the striking shaft 517 that protrudes through the inner surfaces 5401, 5501 and outer surfaces 5402, 5502 of the first guide plate 540 and the second guide plate 550. For example, in Figures 12 to 16 In one embodiment, a tapping position sensing unit 5174, 543 is provided at one end of the first tapping shaft 5172 passing through the first guide plate 540, and a pressing angle sensing unit 553, 554 is provided on the second guide plate 550 for measuring the rotation angle of the guide plate when a pressing action (tilting in the front-back direction) is performed. However, it is not limited to this. Unlike the figure shown, the tapping position sensing unit 5174, 543 is provided on the second tapping shaft 5173 passing through the second guide plate 540, and the pressing angle sensing unit 553, 554 is provided on the side of the first guide plate 540.

[0218] The first massage unit 520 may include a first unit housing 523 that forms the overall appearance and supports the first head support 522. The first unit housing 523 may include: a first housing cover 5231 facing the inner side 5401 of the first guide plate 540; and a second housing cover 5232 facing the base plate 510. A first optical sensor 529 may be disposed on one side of the first unit housing 523. The first optical sensor 529 serves as a sensing member for sensing the start and end points of the position of the first massage unit 520 when it moves horizontally. When the first massage unit 520 moves horizontally, the position of the first sensor plate 549 can be identified by the first optical sensor 529.

[0219] According to one embodiment, as referred to Figure 13 and Figure 14 The first sensor plate 549 may include a first outer sensor plate 5491 disposed on the first guide plate 540 and a first inner sensor plate 5492 disposed on the base plate 510. However, embodiments of the sensor plate 549 are not limited thereto. The following will describe embodiments of the sensor plate 549. Figures 26 to 27 In this context, a first sensor board 549' in the form of a frame, described later, can be applied.

[0220] The second massage unit 530 may include a second unit housing 533 forming an integral appearance and supporting the second head support 532. The second unit housing 533 may include a first housing cover 5331 facing the inner side 5501 of the second guide plate 550 and a second housing cover 5332 facing the base plate 510. A second optical sensor 539 may be disposed on one side of the second unit housing 533. The second optical sensor 539 serves as a sensing member for sensing the start and end points of the position of the second massage unit 530 when it moves horizontally. When the second massage unit 530 moves horizontally, the position of the second sensor plate 559 can be identified by the second optical sensor 539.

[0221] According to one embodiment, as referred to Figure 13 and Figure 14 The second sensor plate 559 may include a second outer sensor plate 5591 disposed on the second guide plate 550 and a second inner sensor plate 5592 disposed on the base plate 510. However, embodiments of the sensor plate 559 are not limited thereto. Hereinafter, Figures 26 to 27 In this context, a second sensor board 559' in the form of a frame, described later, can be applied.

[0222] First, refer to Figures 17 to 20 The constituent elements included in the first massage unit 520 and the second massage unit 530 will be described in more detail.

[0223] Figure 17This is a right-side view of a first massage unit according to an embodiment of the present disclosure. Figure 18 This is a left-side view of a first massage unit according to an embodiment of the present disclosure. Figure 19 This is an exploded view of a first massage unit according to an embodiment of the present disclosure. Figure 20 This is a right-side view showing the internal configuration of a first massage unit according to an embodiment of the present disclosure.

[0224] Figure 17 and Figure 18 The action of the tapping link 526 corresponding to the massage unit (e.g., the first massage unit 520) can be shown, and the state in which the massage head (e.g., the first massage head 521) is tilted forward.

[0225] Figure 19 and Figure 20 The internal structure of the first massage unit 520 according to an embodiment of the present disclosure can be shown in detail, thereby enabling a detailed understanding of the horizontal transfer mechanism. Figure 20 It can be done through perspective. Figure 17 The first housing cover 5231 is shown in the figure to illustrate the internal configuration.

[0226] The first massage unit 520 may include a first unit housing 523, which includes a first opening 5233 through which a horizontal transfer shaft 515 passes. A first head support (or first V-frame) 522 for supporting at least one massage head 521 is connected to the front side, and a first horizontal transfer motor 525 is disposed on the rear side. The second massage unit 530 may include a second unit housing 533, which includes a second opening 5333 through which a horizontal transfer shaft 515 passes. A second head support (or second V-frame) 532 for supporting at least one massage head 531 is connected to the front side, and a second horizontal transfer motor 535 is disposed on the rear side.

[0227] The first massage unit 520 will now be described in detail. Since the first massage unit 520 and the second massage unit 530 are substantially the same constituent elements, the following description of the first massage unit 520 can be applied to the second massage unit 530.

[0228] The first massage unit 520 may include a first unit housing 523, a first head support 522, a first horizontal transfer motor 525, and a drive mechanism linked thereto. The first massage unit 520 may have the structural feature of being able to move independently between the first guide plate 540 and the base plate 510 along the horizontal transfer axis 515 using this structure.

[0229] The first unit housing 523 can be formed by combining a first housing cover 5231 and a second housing cover 5232. The first unit housing 523 can be through which the horizontal transfer shaft 515, the first fixing part 516, the tapping shaft 517, and the second fixing part 519 pass. The front side of the first unit housing 523 can be connected to a first head support 522 for supporting the first massage head 521. As an embodiment including multiple heads, the structure of the first massage head 521 including a first upper massage head 5211 and a first lower massage head 5212 can be shown.

[0230] The first horizontal transfer motor 525, which powers the horizontal movement of the first massage unit 520, can be configured at the rear of the first unit housing 523, rather than at the front of the massage module 500. This rearward configuration of the first horizontal transfer motor 525 effectively stabilizes the center of gravity of the massage unit 520 while maximizing the movement space of the first head support 522 as the massage head 521 moves in the front-back direction, thereby helping to optimize and reduce the overall size of the massage module 500.

[0231] The first massage unit 520 of this disclosure may include a gear linkage mechanism that enables linear movement along a fixed, non-rotating horizontal transfer axis 515, thereby improving the accuracy and efficiency of the left-right width direction movement of the first massage unit 520.

[0232] Reference Figures 17 to 19 The first massage unit 520 forms a first opening 5233 through a horizontal transfer shaft bushing 5234. The horizontal transfer shaft bushing 5234 has an internal gear that meshes with a gear on the horizontal transfer shaft 515. A worm wheel 524 that meshes with a worm on the rotating shaft 5251 of the first horizontal transfer motor 525 can be disposed on the outer periphery of the horizontal transfer shaft bushing 5233. The first unit housing 523 may include the first opening 5233 through which the horizontal transfer shaft 515 passes. The horizontal transfer shaft bushing 5234 can be disposed in this first opening 5233, and the horizontal transfer shaft bushing 5234 may include an internal gear that meshes with a gear formed on the horizontal transfer shaft 515. The rotating shaft 5251 of the first horizontal transfer motor 525 may have a worm that meshes with the worm wheel 524 disposed on the outer periphery of the horizontal transfer shaft bushing 5234. When the first horizontal transfer motor 525 is driven, the rotational power of the worm is transmitted to the worm wheel 524, causing the horizontal transfer shaft bushing 5234, which is integrated with the worm wheel 524, to rotate. At this time, the worm wheel bushing 5235 can be used as a component to support and / or guide the rotation of the worm wheel 524.

[0233] Since the horizontal transfer shaft 515 is firmly fixed to the first guide plate 530 and / or the second guide plate 540 of the massage module 500 and is in a state of restricted rotation, the internal gear of the rotating horizontal transfer shaft bushing 5234 can mesh along the rotating and fixed horizontal transfer shaft 515. Therefore, the first unit housing 523 and the entire first massage unit 520, which are combined with the horizontal transfer shaft bushing 5234, can move precisely linearly in the left-right width direction (X-axis direction) along the horizontal transfer shaft 515.

[0234] In addition to the aforementioned horizontal transfer mechanism, the first massage unit 520 may include an internal structure for realizing the patting action and providing stable support. In this disclosure, it may include a patting link 526 that engages with the first head support 522 to realize the patting action.

[0235] A tapping link 526 may be disposed inside the first unit housing 523 of the first massage unit 520. The tapping link 526 includes a link body 5261. One end of the link body 5261 may be disposed with a first tapping bushing 5262 for engaging and supporting a tapping shaft 517, and the other end of the link body 5261 may be disposed with a second tapping bushing 5263 as a separate bushing for engaging and supporting a first head support 522. An air gap 5264 exists between the first unit housing 523 and the tapping link 526, and the tapping link 526 may be configured to flow within the first unit housing 523. According to one embodiment, an air gap 5264 may be formed between the first tapping bushing 5262 and the first unit housing 523 of the tapping link 526. When the tapping link 526 is fixedly engaged with the first head support 522 on the second tapping bushing 5263 side, it can be linked and moved in conjunction with the tapping link 526.

[0236] The tapping linkage 526 can be configured to link with the tapping shaft 517 and perform a crank motion when the tapping shaft 517 rotates. This crank motion transmits the eccentric rotational force of the tapping shaft 517 to the first head support 522, thereby providing precise tapping motions (forward and backward movement) to the massage head 521.

[0237] A separate bushing 527 may also be provided at the position through which the first fixing shaft 516 passes on the first massage unit 520. The first fixing shaft 516 is used to fix the position (e.g., height) of the second massage unit 530. The bushing 527 can perform the function of firmly maintaining the position of the first massage unit 520 relative to the first fixing shaft 516.

[0238] Reference Figure 17 and Figure 18The first massage head 521 and the first head support 522 can rotate forward or backward within a predetermined angle range with the first fixed axis 516 and the bushing 527 as the center.

[0239] The upper part of the first unit housing 523 may be provided with a sensing component (e.g., described later). Figure 21 The first optical sensor 529 can be used to identify the position of the massage unit 520 between the base plate 510 and the first guide plate 540 as the massage unit 520 moves along the horizontal transfer axis 515. The position information of the first massage unit 520 can be provided to the control unit 120 of the massage module 500, which can then use this information to precisely control the movement distance of the first massage unit 520. The control unit 120 can precisely achieve synchronization, linkage control, and / or independent position control of the first massage unit 520 relative to the second massage unit 530 based on the aforementioned position information.

[0240] The second massage unit 530 may include a second unit housing 533, a second head support 532, a second horizontal transfer motor 535, and a drive mechanism linked thereto. The second massage unit 530 may have a structural feature that allows it to move independently along a horizontal transfer axis 515 between the second guide plate 550 and the base plate 510. In addition to the aforementioned horizontal transfer mechanism, the second massage unit 530 may include an internal structure for realizing a tapping action and providing stable support. In this disclosure, a tapping linkage (not shown) may be included, coupled with the second head support 532, to realize the tapping action.

[0241] and Figure 13 and Figure 14 Refer to together Figures 17 to 20 According to one embodiment, the first sensor plate 549 and the second sensor plate 559 may be configured adjacent to the second fixed axis 519 configured through the upper part of the first massage unit 520. According to one embodiment, the optical sensor 529 may be located at the upper part of the first massage unit 520, corresponding to the positions where the first sensor plate 549 and the second sensor plate 559 are configured.

[0242] Regarding the above Figures 17 to 20 The description of the first massage unit 520 can be applied to the second massage unit 530.

[0243] Secondly, refer to Figure 21 The following figures illustrate in detail the various sensing elements of this disclosure.

[0244] Figure 21 This is a perspective view showing an optical sensor according to an embodiment of the present disclosure.

[0245] As configured in the above Figures 17 to 20The sensing component of the massage unit can be an optical sensor. Hereinafter, the sensing component may be referred to as "optical sensor 529". "Optical sensor 529" can be disposed on one side of the first massage unit 520 and performs the function of accurately detecting the position of the first massage unit 520 in the horizontal width direction (X-axis).

[0246] For example, the optical sensor 529 may include a non-contact sensor such as a photo interrupt sensor. This optical sensor 529 may include multiple light-emitting parts 5291 and light-receiving parts 5292.

[0247] The optical sensor 529 may have a structure in which a plurality of light-emitting portions 5291 and light-receiving portions 5292 are arranged on the base portion 5293 of the sensor. Each light-emitting portion 5291 and light-receiving portion 5292 may be configured to face each other and form a pair of sensing paths, and may have the basic principle that light emitted from the light-emitting portion 5291 directly reaches the light-receiving portion 5292.

[0248] The control unit 120 of the massage module 500 can be linked and operated in conjunction with the optical sensor 529. The control unit 120 can receive information that light emitted from the light-emitting unit 5291 is blocked from reaching the light-receiving unit 5292 by specific components (e.g., sensor plates 549, 559). By analyzing the received information, the control unit 120 can more accurately determine the current position of the sensor plates 549, 559 or the overall structure including them (e.g., the first massage unit 520), or it can determine and control the movement speed and direction of the massage unit.

[0249] This optical sensor can also be provided in the second massage unit 530. The description of the first optical sensor 529 in the first massage unit 520 described above can be applied to the description of the second optical sensor 539 in the second massage unit 530.

[0250] Optical sensors 529 and 539 can play a role in... Figures 22 to 27 The first sensor plates 549, 549' and the second sensor plates 559, 559', described later, work together to track the horizontal movement distance and position of the first massage unit 520 and the second massage unit 530, respectively. This optical sensing method, combined with the feature of the present invention that enables precise linear movement via the non-rotational horizontal transfer axis 515 of the massage units 520, 530, helps to ensure the precision of control in ensuring that the massage heads 521, 531 accurately approach specific positions or curves of the user's body for massage.

[0251] and Figure 21 Let's refer to it again. Figure 13 and Figure 14The massage module 500 may include a first sensor plate 549 extending in the width direction (X-axis direction) and a second sensor plate 559 extending in the width direction (X-axis direction). According to one embodiment, the first sensor plate 549 may include a first outer sensor plate 5491 and a first inner sensor plate 5492. The first outer sensor plate 5491 may be disposed on the inner side 5401 of the first guide plate 540, and the first inner sensor plate 5492 may be disposed on the surface of the base plate 510 facing the first guide plate 540. The second sensor plate 559 may include a second outer sensor plate 5591 and a second inner sensor plate 5592. The second outer sensor plate 5591 may be disposed on the inner side 5501 of the second guide plate 550, and the second inner sensor plate 5592 may be disposed on the surface of the base plate 510 facing the second guide plate 550.

[0252] The first massage unit 520 may include a first optical sensor 529, which is configured to overlap with at least a portion of a region of a first outer sensor plate 5491 and / or a first inner sensor plate 5492 when moved horizontally along the horizontal transfer axis 515. The second massage unit 530 may include a second optical sensor 539, which is configured to overlap with at least a portion of a region of a first outer sensor plate 5591 and / or a second inner sensor plate 5592 when moved horizontally along the horizontal transfer axis 515.

[0253] Figure 22 This is a front perspective view showing a base plate, a first guide plate, and a second guide plate according to an embodiment of the present disclosure. Figure 23 This is a rear perspective view showing a base plate, a first guide plate, and a second guide plate according to an embodiment of the present disclosure. Figure 24 This is a diagram illustrating a sensor board according to a first embodiment of the present disclosure. Figure 25 This is a diagram illustrating a sensor board according to a second embodiment of the present disclosure. Figure 26 This is a front view of a massage module including a sensor plate according to a second embodiment of the present disclosure. Figure 22 and Figure 23 This could be a front perspective view showing the base plate 510, the first guide plate 540, and the second guide plate 550, excluding the massage unit. Figure 24 It could be a rear-view perspective view showing these structures.

[0254] The base plate 510 can be fixed together with the first guide plate and the second guide plates 540, 550. This structure can physically limit the range of motion of the first massage unit 520 and the second massage unit 530. That is, the first massage unit 520 and the second massage unit 530 can have a structure that allows linear movement only within a specified range between the base plate 510, the first guide plate 540, and the second guide plate 550. In addition, the base plate 501 is disposed in the center of the components constituting the interior of the massage module 500, thereby preventing and / or mitigating shear loads acting on the massage module 500 and the torsional deformation they cause.

[0255] As described above, the base plate 510 may include, in addition to a portion 5101 corresponding to the shape of the first guide plate 540 and the second guide plate 550, a portion 5102 protruding from this portion in a planar direction (e.g., the YZ plane direction). A tapping motor 511 may be disposed in this portion. According to one embodiment, the tapping motor 511 is disposed on a surface of the base plate 510 or embedded in the base plate 510.

[0256] According to one embodiment, the base plate 510 may further include: a portion 5101 whose shape corresponds to that of the first guide plate 540 and the second guide plate 550; a portion 5102 protruding from the portion 5101; and a motor housing 5103 formed from the protruding portion 5102 in the width direction (X-axis direction) of the massage module. Figure 23 The form shown is that the tapping motor 511 is embedded in the base plate 510, and the tapping motor 511 can be covered by the motor housing 5103. The tapping motor 511 can be configured to transmit power to the tapping shaft 515 via a belt 514 between a drive pulley 512 disposed on the shaft of the tapping motor 511 and a driven pulley 513 disposed on the shaft of the tapping shaft 515.

[0257] A tapping motor 511 may be arranged on one side of the base plate 510, and a tapping power transmission unit including a drive pulley 512, a driven pulley 513, and a belt 514 may be arranged on the other side of the base plate 510. Alternatively, the tapping motor 511 may be arranged on the other side of the base plate 510, and a tapping power transmission unit including a drive pulley 512, a driven pulley 513, and a belt 514 may be arranged on one side of the base plate 510.

[0258] As described above, the slapping motor 511 is embedded in one side of the base plate 510. Alternatively or additionally, a space or groove (e.g., hole, slot, etc.) for accommodating the slapping power transmission part is formed on the other side of the base plate 510, so that the base plate 510 can have a compact structure.

[0259] Figure 22 , Figure 23 and Figure 24 The diagram shows a configuration where a tapping motor 511 is arranged on the surface of the base plate 510 facing the second guide plate 550, and a tapping power transmission unit is arranged on the surface of the base plate 510 facing the first guide plate 540, but the configuration is not limited to this. Unlike the diagram, the tapping motor 511 may also be arranged on the surface of the base plate 510 facing the first guide plate 540, and the tapping power transmission unit may be arranged on the surface of the base plate 510 facing the second guide plate 550.

[0260] The tapping motor 511 generates power to provide tapping motion (forward and backward movement) for the massage units 520 and 530. This power is transmitted to the tapping shaft 517 via a drive pulley 512 connected to the shaft of the tapping motor 511, a driven pulley 513 connected to the tapping shaft 517, and a belt 514 connecting the drive pulley 512 and the driven pulley 513. The tapping shaft 517 is linked with the tapping linkage of the first massage unit 520 and the second massage unit 530 and causes crank motion, thereby providing tapping function for both massage units.

[0261] The control unit 120 of the massage device 100 disclosed herein can control the first massage unit 520 and the second massage unit 530 to operate independently or in conjunction with each other based on the position and rotation angle information of the first massage unit 520 and the position and rotation angle information of the second massage unit 530 received from the sensing unit disposed in the massage device, thereby providing at least one of the pressing, kneading and patting actions.

[0262] Specifically, the control unit 120 can maximize accuracy and safety by integrating the encoders (not shown) of the motors (e.g., horizontal transfer motors 525, 535) for real-time position tracking of the massage units 520, 530 and the detection of the movable range limitations of the optical sensors 529, 539. For example, the encoders of the first horizontal transfer motor 525 and the second horizontal transfer motor 535 can accurately detect the rotation of the motors in real time, thereby continuously tracking and controlling the width direction (X-axis direction) position of the first massage unit 520 and the second massage unit 530. The optical sensors 529, 539 may include light interruption sensors and may include a light-emitting part 5291 and a light-receiving part 5292. The optical sensors 529, 539 can detect the start and end points of the maximum movable range of the massage units by linkage with the sensor plates 549, 559. While receiving rotation information (e.g., rotation speed per second) in real time from the encoder of the motor (e.g., horizontal transfer motor 525, 535), the control unit 120 confirms that the massage units 520, 530 have reached the preset limit when the sensor boards 549, 559 and the optical sensors 529, 539 are linked in a light-blocking manner, thereby safely and accurately controlling the massage module 500.

[0263] The sensor plate used to detect the maximum movable range of the massage units 520 and 530 can be configured in the first embodiment and the second embodiment.

[0264] For example, Figure 25 Sensor boards 549 and 559 according to the first embodiment are shown.

[0265] Reference Figure 25 To detect the start and end points of the first massage unit 520, a first inner sensor plate 5492 can be provided on the base plate 510 and a first outer sensor plate 5491 can be provided on the first guide plate 540. To detect the start and end points of the second massage unit 530, a second inner sensor plate 5592 can be provided on the base plate 510 and a second inner sensor plate 5591 can be provided on the second guide plate 550. With this structure, the left and right limits of each massage unit 520 and 530 can be precisely detected by four independent sensor plates 5491, 5492, 5591, and 5592, thereby preventing excessive movement. Figures 5 to 24 The embodiments shown illustrate the configuration of sensor boards 549 and 559 using this first embodiment.

[0266] Figure 26 Sensor boards 549' and 559' according to the second embodiment are shown. Figure 27 A front view of the massage module with sensor plates 549' and 559' is shown. A first sensor plate 549' for detecting the start / end point of the first massage unit 520 and a second sensor plate 559' for detecting the start / end point of the second massage unit 530 are shown.

[0267] Sensor plates 549' and 559' may have holes formed along their length. The end position of these holes is detected by optical sensor 529. Control unit 120 can receive this information to determine the maximum range of motion of the massage unit and perform control. For example, control unit 120 can identify the start point 5491' or end point 5492' located on the end side of the hole in the first sensor plate 549' using optical sensor 529 of the first massage unit 520, thereby determining the maximum range of motion of the first massage unit 520 and performing control. Similarly, control unit 120 can identify the start point 5591' or end point 5592' located on the end side of the hole in the second sensor plate 559' using optical sensor 539 of the second massage unit 530, thereby determining the maximum range of motion of the second massage unit 530 and performing control.

[0268] Figure 28 This is a perspective view of a striking shaft according to an embodiment of the present disclosure. Figure 29 This is a side view of a striking shaft according to an embodiment of the present disclosure.

[0269] The tapping shaft 517 may include: a shaft fixing portion 5171, fixedly disposed on the base plate 510; a first tapping shaft 5172, extending from the shaft fixing portion 5171 to one side and passing through the first massage unit 520; and a second tapping shaft 5173, extending from the shaft fixing portion 5171 to the other side and passing through the second massage unit 520. The first tapping shaft 5172 and the second tapping shaft 5173 are each composed of multiple segments, and at least one of the central axes of the multiple segments of the first tapping shaft 5172 and at least one of the central axes of the multiple segments of the second tapping shaft 5173 may be eccentric to each other.

[0270] The tapping axis 517 can be a component that provides tapping action for the massage units 520 and 530, and can periodically move the massage units forward and backward in the front-back direction (e.g., the Y-axis direction) when rotated.

[0271] According to various embodiments of this disclosure, the striking shaft 517 may have a structure extending left and right around the shaft fixing portion 5171. The shaft fixing portion 5171 may be the central portion of the striking shaft that can be fixed to the base plate 510.

[0272] The tapping shaft 517 may include: a first tapping shaft 5172, which extends from the shaft fixing part 5171 to one side and is linked with the first massage unit 520; and a second tapping shaft 5173, which extends to the other side and is linked with the second massage unit 530.

[0273] The first striking shaft 5172 and the second striking shaft 5173 can each be composed of multiple segments. As shown in the figure, the first striking shaft 5172 can be a structure including multiple segments such as 5172a, 5172b, 5172c, and 5172d, and the second striking shaft 5173 can also be a structure including multiple segments such as 5173a, 5173b, 5173c, and 5173d. According to one embodiment, the end portion 5172d of the first striking shaft 5172 can be configured to penetrate through the first guide plate 540. According to one embodiment, the end portion 5173d of the second striking shaft 5173 can be configured to penetrate through the second guide plate 550.

[0274] At least one of the multiple central axes of the first tapping axis 5172 and at least one of the multiple central axes of the second tapping axis 5173 can have an eccentric structure. With this eccentric structure, when the tapping axis 517 rotates, it can provide the first massage unit 520 and the second massage unit 530 with different advance and retreat sequences or different amplitudes of tapping motions. This can be used not only for simultaneous tapping but also to achieve various three-dimensional tapping patterns where the left and right massage units alternate (cross-eccentric) or move with different intensities (eccentricity difference).

[0275] The tapping motor 511 can be configured to transmit power to the tapping shaft 515 via a belt 514 between a driving pulley 512 disposed on the shaft of the tapping motor 511 and a driven pulley 513 disposed on the shaft of the tapping shaft 515. The tapping shaft 517 provides connection to the tapping motor 511, pulleys 512, 513 and belt 514 and receives driving force. (See again...) Figure 20 , Figure 24 The driving pulley 512, which is connected to the shaft of the tapping motor 511, can be connected to the driven pulley 513 via a belt 514. The driven pulley 513 is connected to the tapping shaft 517. Through this connection structure, the massage module 500 of this disclosure effectively transmits the rotational power of the tapping motor 511 to the tapping shaft 517, thereby causing eccentric rotation (crank motion). When the tapping shaft 517 rotates, the tapping linkage 526 inside the massage units 520 and 530 can engage with the eccentric portion of the shaft (e.g., 5172A, 5173a) and perform crank motion. Through this motion, the massage heads 521 and 531 can perform tapping actions (forward and backward movement) on the human body.

[0276] The position of the slapping axis 517 can be measured in real time through linkage with the slapping sensor plate and slapping sensing unit described later. This can be applied to precisely control the speed, intensity and pattern of the slapping action.

[0277] Figure 30 This is a perspective view showing a striking position sensing unit for measuring the rotational position of a striking shaft according to an embodiment of the present disclosure. Figure 31 This is a diagram showing the sensor plate of the pressure angle sensing section of a massage module according to an embodiment of the present disclosure. Figure 32 This is a diagram illustrating a position detection sensor for detecting the position of a massage module according to an embodiment of the present disclosure.

[0278] According to various embodiments of this disclosure, the massage module 500 may include a composite sensing system for accurately sensing kneading, patting, pressing actions, and the overall vertical position of the massage module 500. This sensing system can provide real-time information to the control unit 120 of the massage module 500, and independently, relatively, quasi-linkedly, or in conjunction with the control of the massage units 520 and 530.

[0279] Figure 30 A detailed structure of a rotation position sensing unit for detecting the rotational position of a striking shaft according to an embodiment of the present disclosure can be shown. This can perform the function of detecting the rotational position of the striking shaft 517.

[0280] The tapping position sensing unit may include a tapping sensor plate 5174 and a sensing member 543 for measuring its position. For example, the sensing member 543 may be a structure that includes an optical sensor.

[0281] The tapping sensor plate 5174 can be configured to be securely coupled to the tapping shaft 517, rotating together with it when the tapping shaft 517 rotates. For example... Figure 30 As shown, the tapping sensor plate 5174 may include a position recognition element 51741 at a specific angular position. For example, as a position recognition element, such as Figure 30 As shown, the notch may be included, but is not limited to. For example, the tapping position sensing unit may also employ a combination of an optical sensor and a non-notch protrusion or opening (or hole). Alternatively, as the tapping position sensing unit, it may also include combinations of other various embodiments for position identification, such as a combination of sensors that detect magnets and magnetic fields (e.g., Hall sensors). According to this disclosure, using the position identification element 51741 disposed on the tapping sensor plate 5174, information about the rotational position of the tapping axis can be provided by periodically blocking or opening the light path of the sensing member 543.

[0282] The control unit 120 can receive the real-time rotation angle of the tapping shaft 517 via an encoder installed on the motor that drives the tapping motion, thereby detecting the speed of the tapping shaft (e.g., rotation speed per second). Simultaneously, the rotational position of the tapping shaft can be detected using a tapping position sensing unit. Using the detected information, the control unit 120 can precisely control the tapping motion of the massage units 520 and 530 by driving the tapping motor 511.

[0283] For example, the encoder and tapping position sensor of the tapping motor 511 can be used to detect the speed of the tapping motion and the position of the tapping axis. The tapping intensity can be adjusted by changing the speed, or the relative angle of the massage units 520 and 530 can be adjusted to an aligned or misaligned state. In addition, the safety of the control system can be improved in case of an emergency.

[0284] Figure 31 A sensor plate 554 of the pressure angle sensing unit according to an embodiment of the present disclosure can be shown, which can be used to detect the maximum range of the forward and backward pressing action of the massage module.

[0285] The massage module 500 disclosed herein may include a pressure angle sensing unit for detecting the maximum movable range of a forward and backward pressing action of the massage module in at least one of the first guide plate 540 and the second guide plate 550. According to one embodiment, the sensor plate 554 of the pressure angle sensing unit may be disposed on the outer surfaces 5402 and 5502 of the guide plates (first guide plate 540 and / or second guide plate 550), and the sensing member 5034 may be disposed on the inner surface of the module housing 501 at a position corresponding to the sensor plate 554. For example, the sensing member 5034 may include an optical sensor.

[0286] According to one embodiment, the sensor plate 554 can be configured to rotate in conjunction with the guide plates (first guide plate 540 and / or second guide plate 550), and as shown, it can have an arc-shaped (fan-shaped curve) shape. The sensor plate 554 may include a first protrusion 5541 and a second protrusion 5542 at both ends. The sensing member 5034 can detect positional changes of the sensor plate 554, such as the first protrusion 5541 and the second protrusion 5542, thereby detecting the maximum rotational angle range of the forward and backward pressing action of the massage module 500.

[0287] The control unit 120 can receive real-time angular information about the forward and backward movement of the massage unit via an encoder installed in the motor that drives the pressing action. Additionally, the pressing angle sensors 554 and 5034 can receive information about whether the maximum movable limits of the massage unit's front and rear have been reached. This improves the safety of the control system in emergency situations.

[0288] According to one embodiment, refer again Figure 7 , Figure 8 , Figures 12 to 16 A sensing member 5034 for sensing the pressing angle may be disposed on the inner side of the second housing 5012 of the module housing 501. Correspondingly, a sensor plate 554 is disposed on the outer side 5502 of the second guide plate 550. According to one embodiment, as Figure 7 , Figure 8 , Figures 12 to 16 As shown, the sensor plate 554 of the pressure angle sensing unit can be disposed on the other end of the tapping shaft, rather than on one end of the tapping shaft where the tapping position sensing unit is disposed, but it is not limited thereto. Unlike the figure shown, the pressure angle sensing unit can also be disposed on one end of the tapping shaft where the tapping position sensing unit is disposed.

[0289] Figure 32 A sensing structure for measuring the vertical position of the entire massage module 500 according to an embodiment of the present disclosure can be shown. This can be used to identify the position of the massage module 500 and accurately set the massage area as the massage module 500 moves along the body frame 111 of the frame portion 110.

[0290] Figure 32 The sensing element 1111 shown can be positioned at any location along the length of the body frame 111. According to one embodiment, the sensing element 1111 can be positioned adjacent to the rack 111a (or guide rail) of the body frame 111. For example, the sensing element 1111 may include a magnetic field-based sensor such as a Hall sensor.

[0291] A vertical position detection sensor plate 5035 can be disposed on the outer side of the module housing 501 (e.g., the second housing 5012). This sensor plate 5035 can be linked with the sensing member 1111 disposed on the body frame 111 to detect the vertical position on the frame portion 110 of the massage module 500. This information can provide the control unit 120 with the reference information needed to accurately move the massage module 500 to specific massage areas such as the user's neck, shoulders, and waist.

[0292] The technical concept of the present invention has been described above with reference to the accompanying drawings. However, this is merely an exemplary description of preferred embodiments of the present invention and does not limit the invention. Furthermore, those skilled in the art should understand that various modifications and imitations can be made without departing from the technical concept of the present invention.

[0293] Furthermore, the structure and function of the massage device described in this manual can be extended and applied to various (wearable) health care devices that provide health care functions (e.g., massage function, biosignal measurement function, etc.). Therefore, the term "massage device" in this manual can be replaced with "(wearable) health care device" for further explanation.

Claims

1. A massaging device, characterized by include: Base plate, A horizontal transfer shaft extends along the width of the massage device, and the horizontal transfer shaft is configured not to rotate relative to the base plate. A first massage unit includes at least one massage head, and the first massage unit is movable along the horizontal transfer axis on one side of the base plate. The second massage unit includes at least one massage head, and the second massage unit is movable along the horizontal transfer axis on the other side of the base plate.

2. The massage device according to claim 1, characterized in that, The first massage unit includes a first horizontal transfer motor that powers the horizontal movement of the first massage unit on the horizontal transfer axis. The second massage unit includes a second horizontal transfer motor that powers the horizontal movement of the second massage unit on the horizontal transfer axis. The second massage unit is configured to be driven independently of the first massage unit.

3. The massage device according to claim 2, characterized in that, The first massage unit includes a first unit housing, which has a first opening through which the horizontal transfer shaft passes. A first head support for supporting at least one massage head is connected to the front side of the first unit housing, and a first horizontal transfer motor is disposed on the rear side of the first unit housing. The second massage unit includes a second unit housing, the second unit housing having a second opening through which the horizontal transfer shaft passes, a second head support for supporting at least one of the massage heads connected to the front side of the second unit housing, and a second horizontal transfer motor disposed on the rear side of the second unit housing.

4. The massage device according to claim 3, characterized in that, The first massage unit forms the first opening through the horizontal transfer shaft bushing. An internal gear that meshes with the gear of the horizontal transfer shaft is formed in the horizontal transfer shaft bushing. A worm wheel that meshes with the worm on the rotating shaft of the first horizontal transfer motor is arranged on the outer periphery of the horizontal transfer shaft bushing. The second massage unit forms the second opening through the horizontal transfer shaft bushing. An internal gear that meshes with the gear of the horizontal transfer shaft is formed in the horizontal transfer shaft bushing. A worm wheel that meshes with the worm on the rotating shaft of the second horizontal transfer motor is arranged on the outer periphery of the horizontal transfer shaft bushing.

5. The massaging device according to claim 1, wherein include: The first rotation axis extends along the width direction of the massage device in a manner parallel to the horizontal transfer axis. A first guide plate is provided, and the first massage unit is disposed between the first guide plate and the base plate. The first guide plate guides the first massage unit to tilt in the front-back direction with the first rotation axis as a reference. A second guide plate is provided, and the second massage unit is disposed between the second guide plate and the base plate. The second guide plate guides the second massage unit to tilt in the front-back direction with the first rotation axis as a reference.

6. The massage device according to claim 5, characterized in that, The massage device includes: Frame section, The main frame is disposed on the frame portion and configured to extend along the vertical direction of the frame portion, and The massage module is configured to move vertically along the main frame. The massage module includes: The module housing encloses the base plate, the first massage unit, the second massage unit, the first guide plate, and the second guide plate. The first and second wheels are disposed on one side and the other side of the module housing, and the first and second wheels are configured to roll on the main frame. A travel axle, used to connect the first wheel and the second wheel; The travel axle includes: The first gear meshes with the first guide gear of the first guide plate, and The second gear meshes with the second guide gear of the second guide plate.

7. The massage device according to claim 5, characterized in that, At least one of the ends of the horizontal transfer shaft includes a fixing structure, and the horizontal transfer shaft is positioned and fixed to at least one of the first guide plate and the second guide plate by the fixing structure.

8. The massaging device according to claim 1, wherein include: A tapping shaft extends along the width direction of the massage device in a manner parallel to the horizontal transfer shaft, and the tapping shaft passes through the base plate and is respectively connected to the first massage unit and the second massage unit. A slapping motor is disposed on one side of the base plate and is used to provide rotational power to the slapping shaft.

9. The massage device according to claim 8, characterized in that, The striking shaft includes: The shaft fixing part is fixedly disposed on the base plate. The first tapping axis extends to one side from the axis fixing part and passes through the first massage unit, and The second tapping axis extends from the axis fixing part to the other side and passes through the second massage unit; The first tapping shaft and the second tapping shaft are each composed of multiple segments, and at least one of the central axes of the multiple segments of the first tapping shaft and at least one of the central axes of the multiple segments of the second tapping shaft are eccentrically arranged with respect to each other.

10. The massage device according to claim 8, characterized in that, A slapping motor for rotating the slapping shaft is disposed on one side of the base plate, and a slapping power transmission part for transmitting the power of the slapping motor to the slapping shaft is disposed on the other side of the base plate.

11. The massage device according to claim 10, characterized in that, The striking power transmission unit includes: The drive pulley is mounted on the shaft of the beater motor. Driven pulley, configured on the shaft of the striking shaft, and The belt is located between the driving pulley and the driven pulley.

12. The massage device according to claim 1, characterized in that, The massage device includes a control unit. The control unit controls the first massage unit and the second massage unit independently, relatively, quasi-linked, or linked in a manner based on the position and rotation angle information of the first massage unit received from the sensing unit configured on the massage device and the position and rotation angle information of the second massage unit received from the sensing unit configured on the massage device, thereby providing at least one of pressing, kneading, and patting actions.

13. The massaging device according to claim 1, wherein include: The first sensor plate extends along the width direction of the massage device, and The second sensor plate extends along the width direction of the massage device; The first massage unit includes: The first optical sensor is configured to overlap with at least a portion of the area of ​​the first sensor plate; The second massage unit includes: The second optical sensor is configured to overlap with at least a portion of the area of ​​the second sensor plate.

14. The massaging device according to claim 1, wherein include: A first guide plate is provided, and the first massage unit is disposed between the first guide plate and the base plate, wherein the first guide plate is used to guide the first massage unit to rotate in the front-back direction. A second guide plate is provided, and the second massage unit is disposed between the second guide plate and the base plate, and the second guide plate is used to guide the second massage unit to move in the back-and-forth direction. A tapping shaft extends along the width direction of the massage device in a manner parallel to the horizontal transfer shaft, and the tapping shaft passes through the base plate, the first massage unit, and the second massage unit, and passes through at least one of the first guide plate and the second guide plate. A tapping sensor plate is formed at one end of a tapping shaft passing through at least one of the first guide plate and the second guide plate, and the tapping sensor plate rotates together with the tapping shaft. The tapping sensor unit is used to detect the position of the position recognition element provided on the tapping sensor plate.

15. The massaging device according to claim 14, wherein include: A pressure angle sensing unit is disposed in at least one of the first guide plate and the second guide plate and is used to detect the maximum movable range of the massage module's pressing action in the front-back direction.

16. The massaging device according to claim 1, wherein Also includes: Stops are respectively disposed on one side and the other side of the base plate and are used to restrict the movement of the first massage unit and the second massage unit.

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