Massage device

Abstract

The utility model relates to a massage device. The massage device comprises a body massage part; a shaft; a moving actuator; a forward / reverse actuator; the leg massage part is connected with the body massage part through the shaft and comprises a first leg massage part and a second leg massage part, the first leg massage part is used for massaging the legs on one side of the user, and the second leg massage part is used for massaging the legs on the other side of the user; the alignment sensor part is used for sensing the alignment between the first leg massage part and the second leg massage part; and a control unit. The massage device further includes: at least one of a leg length adjustment actuator and a leg angle actuator; the first leg massage part and the second leg massage part operate independently of each other.

Description

[0001] This application is a divisional application of the patent application with application number 2023217577434, application date July 5, 2023, and invention name “Massage Device”. Technical Field

[0002] The utility model relates to a massage device with a leg massage part alignment function and a control method thereof, and more specifically, to a massage device and a control method thereof, which can control the alignment of a leg massage part arranged in a manner capable of independent movement. Background Art

[0003] Massage refers to a medical auxiliary therapy that regulates the body changes of the massage object, helps blood circulation and relieves fatigue of the massage object by applying various forms of mechanical stimulation to the body part of the massage object, such as kneading, pressing, stretching, patting or moving a part of the body.

[0004] Due to economic and time reasons, there is an increasing demand for massage devices that provide manual massage functions. As the demand for relieving stiff muscles and eliminating fatigue or stress through massage increases, various massage devices with good time and cost benefits are introduced.

[0005] Recently, people's concern for health has increased, and massage devices have changed from simply providing a massage function to electronic devices that provide a variety of additional functions and / or medical functions, and thus, research on methods of effectively controlling massage devices is still ongoing.

[0006] In particular, since the parts to be massaged, desired stimulation, etc. may differ for each user, research activities on devices and methods for providing massage in an optimized form to each user are increasing.

[0007] As such an example, Korean Patent Publication No. 10-2020-0100561 discloses an example of a massage device divided into a first leg massage part for accommodating the right leg and a second leg massage part for accommodating the left leg, and the first and second leg massage parts are independently driven.

[0008] On the other hand, in the case of the independently driven leg massage parts, the leg massage parts are independently driven, so when the alignment state of each leg massage part is incorrect, it may cause discomfort to the user and there is a problem that massage cannot be effectively performed.

[0009] Therefore, there is a need to develop a massage device capable of controlling the alignment of independently driven leg massage parts. Utility Model Content

[0010] Problems to be solved by utility models

[0011] The problem to be solved by the utility model is to provide a massage device, in which the leg massage parts corresponding to the legs on both sides act separately.

[0012] In addition, the problem to be solved by the present invention is to provide a massage device capable of controlling the alignment of leg massage parts that move independently.

[0013] However, the problems to be solved by the present invention are not limited to the above-mentioned problems, but also include problems that can be easily grasped by ordinary technicians in the technical field to which the present invention belongs based on this specification and drawings.

[0014] Means used to solve problems

[0015] According to an embodiment of the utility model, a massage device may include: a body massage part, including a massage module that provides massage to at least a part of a user's body; an axis, coupled to one side of the body massage part; a moving actuator, capable of moving the massage module up and down; a forward / backward actuator, capable of tilting the massage module in at least one direction of the front and the rear; a leg massage part, connected to the body massage part through the axis, and including a first leg massage part and a second leg massage part, the first leg massage part massages one side of the user's leg, and the second leg massage part massages the other side of the user's leg; an alignment sensor part, used to sense the alignment between the first leg massage part and the second leg massage part; and a control part, controlling the body massage part, the leg massage part and the alignment sensor part. The massage device further includes: at least one of a leg length adjustment actuator and a leg angle actuator, wherein the leg length adjustment actuator is used to adjust the length of the leg massage part, and the leg angle actuator is connected to the first leg massage part and the second leg massage part respectively and can rotate the first leg massage part and the second leg massage part separately. The first leg massage part and the second leg massage part operate independently of each other.

[0016] Furthermore, the alignment sensor portion may include a first alignment sensor portion provided at the first leg massaging portion, and a second alignment sensor portion provided at the second leg massaging portion; the first alignment sensor portion and the second alignment sensor portion may be provided at positions opposite to each other.

[0017] Furthermore, the first alignment sensor may be a light emitting sensor, and the second alignment sensor may be a light receiving sensor.

[0018] Furthermore, the control part may determine that the first leg massaging part and the second leg massaging part are in an aligned state when the light receiving sensor receives the signal emitted by the light emitting sensor.

[0019] Furthermore, the control part may determine that the first leg massaging part and the second leg massaging part are in a misaligned state when the light receiving sensor does not receive the signal emitted by the light emitting sensor.

[0020] In addition, the control unit can determine whether the signal of the light emitting sensor is received by the light receiving sensor when the first leg massage unit and the second leg massage unit simultaneously rise or simultaneously fall toward a predetermined target coordinate, and when the light receiving sensor receives the signal of the light emitting sensor, determine that the first leg massage unit and the second leg massage unit are in an aligned state and maintain the speed of the first leg massage unit and the second leg massage unit.

[0021] In addition, when the first leg massage part and the second leg massage part rise or fall simultaneously toward a predetermined target coordinate, the control part may increase or decrease the speed of any one of the first leg massage part and the second leg massage part when the light receiving sensor does not receive a signal from the light emitting sensor.

[0022] Furthermore, the control part may make the speed of the first leg massaging part and the speed of the second leg massaging part consistent when the light receiving sensor receives the signal of the light emitting sensor before the first leg massaging part and the second leg massaging part reach the predetermined target coordinates.

[0023] In addition, the control part may, in the case of reducing the speed of any one of the first leg massage part and the second leg massage part, maintain the speed of the leg massage part whose speed is reduced and the speed of the other leg massage part of the first leg massage part and the second leg massage part until the light receiving sensor receives the signal of the light emitting sensor when judging that the interval between the first leg massage part and the second leg massage part is reduced.

[0024] In addition, the control unit may reduce the speed of any one of the first leg massage unit and the second leg massage unit, and when it is determined that the interval between the first leg massage unit and the second leg massage unit is increased, increase the speed of the leg massage unit whose speed is reduced.

[0025] In addition, the control part may increase the speed of any one of the first leg massage part and the second leg massage part, and upon judging that the interval between the first leg massage part and the second leg massage part is reduced, maintain the speed of the leg massage part of the first leg massage part and the second leg massage part whose speed is increased and the speed of the other leg massage part of the first leg massage part and the second leg massage part until the light receiving sensor receives the signal of the light emitting sensor.

[0026] In addition, the control unit may increase the speed of any one of the first leg massage unit and the second leg massage unit, and when it is determined that the interval between the first leg massage unit and the second leg massage unit is increased, reduce the speed of the leg massage unit whose speed is increased.

[0027] In addition, a first encoder may be provided in the first leg massage part, the first encoder is used to measure the rotation angle of the first leg massage part and send it to the control part, and a second encoder may be provided in the second leg massage part, the second encoder is used to measure the rotation angle of the second leg massage part and send it to the control part. The control part can compare the rotation angle of the first leg massage part received from the first encoder and the rotation angle of the second leg massage part received from the second encoder to determine the interval between the first leg massage part and the second leg massage part.

[0028] In addition, the control unit may stop the leg massage unit that reaches the predetermined target coordinates first, and raise or lower the other leg massage unit of the first leg massage unit and the second leg massage unit until the light receiving sensor receives the signal of the light emitting sensor, if any one of the first leg massage unit and the second leg massage unit reaches the predetermined target coordinates first.

[0029] Furthermore, the control part may adjust the basic speed of the first leg massaging part to the second speed when increasing or decreasing the speed of the first leg massaging part from the first speed to the second speed, or adjust the basic speed of the second leg massaging part to the second speed when increasing or decreasing the speed of the second leg massaging part from the first speed to the second speed.

[0030] In addition, the control part may calculate an average value of the speed after each increase or decrease as an adjusted speed average value when the speed of the first leg massage part is increased or decreased multiple times, and tune the basic speed of the first leg massage part to the adjusted speed average value, or calculate an average value of the speed after each increase or decrease as an adjusted speed average value when the speed of the second leg massage part is increased or decreased multiple times, and tune the basic speed of the second leg massage part to the adjusted speed average value.

[0031] In addition, a first encoder may be provided in the first leg massage part, the first encoder is used to measure at least one of the rotation speed and the rotation amount of the first leg massage part and send it to the control part, and a second encoder may be provided in the second leg massage part, the second encoder is used to measure at least one of the rotation speed and the rotation amount of the second leg massage part and send it to the control part.

[0032] Furthermore, the control part may control the alignment of the first leg massaging part and the second leg massaging part based on at least one of a rotation speed and a rotation amount of the first leg massaging part received from the first encoder and at least one of a rotation speed and a rotation amount of the second leg massaging part received from the second encoder.

[0033] Furthermore, the control part may determine the coordinates of the first leg massage part and the second leg massage part based on at least one of the rotation speed and the rotation amount of the first leg massage part received from the first encoder and at least one of the rotation speed and the rotation amount of the second leg massage part received from the second encoder.

[0034] Utility Model Effect

[0035] The massage device according to an embodiment of the utility model can provide a desired massage to each leg of the user by causing the leg massage parts to move independently.

[0036] In addition, the massage device according to an embodiment of the present invention can control the alignment of the leg massage parts that move independently.

[0037] The effects that can be obtained by the present invention are not limited to the effects mentioned above, and those skilled in the art can clearly understand other effects not mentioned from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a diagram for explaining a massage device according to an embodiment of the present utility model.

[0039] Figure 2 It is a diagram for explaining the main frame of one embodiment of the utility model.

[0040] Figure 3 It is a diagram for explaining the specific structure of a massage device according to one embodiment of the present utility model.

[0041] Figure 4 1 is a diagram showing an external device that can communicate with a massage device according to an embodiment of the present invention.

[0042] Figure 5 It is a diagram for explaining that the leg massage part in the massage device according to one embodiment of the present utility model rotates independently.

[0043] Figure 6 It is used to illustrate Figure 5 Illustration of the principle of rotation of the leg massage part.

[0044] Figure 7 1 is a diagram showing a state in which a leg massage part according to an embodiment of the present invention is connected to a leg connection frame.

[0045] Figure 8 is along Figure 7 A cross-sectional view along the A-A' line.

[0046] Fig. 9 is along Figure 7 Cross-sectional view along line BB'.

[0047] Fig. 10A 1 is a diagram showing a state in which a shaft of an embodiment of the utility model is connected to a central support bracket and a side support bracket, Fig. 10B It is a diagram showing a state in which the central rotating member rotates.

[0048] Fig.11 yes Fig. 10A Schematic top view of .

[0049] Fig. 12A is along Fig. 10A The cross-sectional view of the C-C' line, Fig. 12B It is another embodiment of the utility model along Fig. 10A Cross-sectional view along line C-C'.

[0050] Fig.13A 2 is a diagram showing a central support bracket of another embodiment of the utility model. Fig. 13B 2 is a diagram showing a central support bracket according to another embodiment of the present invention.

[0051] Fig.14A and Fig. 14B is a diagram showing a process of fastening a center bushing to a center support bracket, Fig. 14C and Fig.14D 2 is a diagram showing a process of fastening a side bushing to a side support bracket.

[0052] Fig.15 yes Figure 7 Enlarged view of part D.

[0053] Fig.16 This is a diagram showing an exploded state of a safety sensor module according to an embodiment of the present invention.

[0054] Fig.17 FIG. 1 is a diagram showing another embodiment of the safety sensor module according to the embodiment of the present invention.

[0055] Fig.18A and Fig.18B FIG. 1 is a diagram showing a driving process of a safety sensor module according to an embodiment of the present invention.

[0056] Fig.19 2 is a diagram showing an alignment sensor provided at a leg massage part according to an embodiment of the present invention.

[0057] Fig. 20 It is a flowchart of aligning the leg massage part of a massage device according to an embodiment of the utility model.

[0058] Fig.21 It is a flowchart of aligning the leg massage part of a massage device according to another embodiment of the utility model.

[0059] Fig. 22 It is a flowchart of aligning the leg massage part of a massage device according to another embodiment of the utility model.

[0060] Description of Reference Numerals

[0061] 1000: Massage device 1100: Body massage unit

[0062] 1110: massage module 1120: audio output module

[0063] 1130: Main frame 1140: User input unit

[0064] 1200: Arm massage part 1210: First arm massage part

[0065] 1230: Second arm massage part 1300: Leg massage part

[0066] 1310: First leg massage part 1330: Second leg massage part

[0067] 1350: Leg angle actuator 1400: Control unit

[0068] 1410: sensor unit 1420: communication unit

[0069] 1430: memory 1440: audio output unit

[0070] 1450: Interface unit 1500: Safety sensor module

[0071] 1510: Sensor bracket 1520: Sensor

[0072] 1530: Center support bracket 1540: Pressure plate

[0073] 1550: Side support bracket DETAILED DESCRIPTION

[0074] The advantages, features and implementation methods of the disclosed embodiments will become clear by referring to the accompanying drawings and the following embodiments. However, the present invention is not limited to the embodiments disclosed below, and can be implemented in various forms. The purpose of providing this embodiment is only to make the present invention complete and to fully inform the technical personnel in the field of the scope of the present invention.

[0075] The terms used in this specification are briefly explained, and the disclosed embodiments are described in detail.

[0076] The terms used in this specification are currently widely used common terms selected as much as possible based on the functions of the utility model, but these terms may be changed according to the intentions of those skilled in the art, precedents, or the emergence of new technologies. In addition, in certain cases, the applicant arbitrarily selects some terms. In this case, the meaning of the selected terms will be described in detail in the description of the utility model. Therefore, the terms used in the utility model should be defined based on the meaning of the terms and the overall content of the utility model, and cannot be defined based on the simple term name.

[0077] Unless clearly indicated as a singular, a singular form in this specification includes a plural form. In addition, unless clearly indicated as a plural, a plural form also includes a singular form.

[0078] Throughout the specification, when a part “comprises” a certain constituent element, it means that, unless there is a description contrary thereto, other constituent elements may also be included, rather than excluding other constituent elements.

[0079] In addition, the term "unit" used in the specification refers to a software or hardware component, and the "unit" performs certain functions. However, the "unit" is not limited to software or hardware. The "unit" can be constructed in a manner that exists in an addressable storage medium, or can be constructed in a manner that reproduces one or more processors. Therefore, as an example, the "unit" includes: components such as software components, object-oriented software components, class components, and task components, processes, functions, attributes, programs, subroutines, program code segments, drivers, firmware, microcodes, circuits, data, databases, data structures, tables, arrays, and variables. The functions provided by the components and the "unit" can be provided by combining fewer components and the "unit", or can be provided by further separating into more components and the "unit".

[0080] According to one embodiment of the utility model, the "unit" can be implemented with a processor and a memory. The term "processor" should be broadly interpreted as including a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, etc. In some cases, a "processor" may refer to an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), etc. The term "processor" may refer to a combination of processing devices, for example, a combination of a DSP (digital signal processor) and a microprocessor, a combination of multiple microprocessors, a combination of more than one microprocessor coupled to a DSP core, or a combination of any other such configurations.

[0081] The term "memory" should be interpreted broadly to include any electronic component capable of storing electronic information. The term memory may 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. A memory is said to be in electronic communication with a processor if the processor is able to read information from and / or record information to the memory. A memory that is integrated into a processor is in electronic communication with the processor.

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

[0083] In this specification, according to one embodiment, a massage device may refer to a massage device including a massage part that massages a part of a user's body. In this case, the massage part may include at least one of a body massage part, an arm massage part, and a leg massage part. In addition, according to another embodiment, the body massage part, the arm massage part, and the leg massage part may exist as independent devices separated from each other (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 a body massage device, an arm massage device, and a leg massage device.

[0084] Hereinafter, the embodiments are described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement the embodiments. In addition, in the accompanying drawings, parts not related to the description are omitted in order to more clearly describe the present invention.

[0085] Figure 1 2 is a diagram showing a massage device according to an embodiment of the present invention.

[0086] The massage device 1000 according to an embodiment of the present invention may include a massage portion forming an area for accommodating at least a portion of a user's body, supporting the user's body (eg, a torso), and massaging a portion of the user's body.

[0087] The massage part may include at least one of the following massage parts: a body massage part 1100 for massaging at least a part of the user's body; an arm massage part 1200 for massaging the user's arms; and a leg massage part 1300 for massaging the user's legs.

[0088] The body massaging part 1100 may massage at least a portion of the user's body. For example, the body massaging part 1100 may massage at least a portion of at least one of the upper body and the lower body of the user.

[0089] Specifically, the body massage part 1100 may include: a massage module 1110, which provides a massage function to at least a part of the user's body; an audio output module 1120, which is used to provide any form of audio output to the user; a main frame 1130, which constitutes the frame of the body massage part 1100 and supports the user's body; and a user input part 1140, which is used to receive any form of input from the user.

[0090] The above-mentioned structures of the body massage part 1100 are merely exemplary embodiments. In addition to the above-mentioned structures, the body massage part 1100 may include various structures.

[0091] In addition, if Figure 1The shape and structure of the massage device 1000 shown are merely examples. Without departing from the scope defined by the claims of the present invention, various forms of massage devices 1000 should also fall within the scope of the present invention.

[0092] The body massage part 1100 may form a space of any form for accommodating the user. The body massage part 1100 may have a space of a form corresponding to the shape of the user's body. Figure 1 As shown, the body massage part 1100 can be implemented in a seated manner that can accommodate the entire body or a part of the body of the user, thereby supporting at least a part of the body of the user. For example, the body massage part 1100 may include: a backrest portion for supporting at least a part of the upper body of the user; and a seat portion for supporting at least a part of the lower body of the user.

[0093] The portion of the body massaging part 1100 that contacts the ground may include any material or any member (eg, an anti-slip pad, etc.) for increasing friction, and may include wheels for enhancing the mobility of the massage device 1000 .

[0094] At least a portion of the body massage part 1100 can slide. For example, when the body massage part 1100 starts massaging (or when the body massage part 1100 is driven), at least a portion of the body massage part 1100 can slide forward. In addition, the body massage part 1100 can be tilted backward. As a result, the body massage part 1100 can provide massage in a state tilted backward. For example, the massage device 1000 may include an actuator to tilt the massage device 1000 (or the body massage part 1100) toward the rear of the massage device 1000 (or the body massage part 1100). The massage device 1000 can tilt the body massage part 1100 or restore it to its original state by driving the above-mentioned actuator. At this time, the actuator can be provided at least a portion of the massage device (e.g., a base frame).

[0095] According to an embodiment of the present invention, the massage device 1000 may include at least one airbag (not shown). The airbag may be located in at least a portion of the body massage part 1100 (for example, in the entire area of ​​the body massage part 1100, at least one of the area corresponding to the user's shoulders, the area corresponding to the pelvis, and the area corresponding to the waist), at least a portion of the arm massage part 1200, and at least a portion of the leg massage part 1300, but is not limited thereto and may be provided in multiple portions of the massage device 1000.

[0096] The massage device 1000 may include an air supply unit that supplies air to the airbag to expand the airbag. The air supply unit may be located inside the body massage part 1100 or the leg massage part 1300. In addition, the air supply unit may be located outside the massage device 1000.

[0097] The massage module 1110 may be disposed inside the body massage part 1100 so as to provide any form of mechanical stimulation to the user accommodated in the body massage part 1100. Figure 1 As shown, the massage module 1110 may move along the main frame 1130 inside the body massage part 1100. The massage module 1110 may massage at least a portion of the user's body while moving along the main frame 1130.

[0098] The main frame 1130 of the body massage part 1100 may be provided with a rack 1131a, and the massage module 1110 may provide mechanical stimulation to various parts of the user's body while moving along the rack. For example, the massage module 1110 may massage the user's back and shoulders, waist, buttocks, and thighs by patting or kneading at least one of the body parts. The massage module 1110 may include at least one of a ball massage unit and a roller massage unit, but is not limited thereto.

[0099] The main frame 1130 is used to form the frame of the internal structure of the body massage part 1100, and can be implemented by metal materials or plastic materials, etc. For example, the main frame 1130 can be implemented by iron, alloy, steel, etc., but is not limited thereto, and can also be implemented by various hard materials.

[0100] The audio output module 1120 may be disposed in a variety of locations. For example, the audio output module 1120 may include a plurality of output units, such as an upper audio output unit disposed at the upper end of the seat portion in contact with the user, a front audio output unit attached to the front ends of the arm massage portion 1200 on the left and right sides of the seat portion, and / or a rear audio output unit attached to the rear end of the arm massage portion 1200, but not limited thereto. In this case, the audio output module 1120 may provide stereo sound such as 5.1 channels, but not limited thereto.

[0101] The arm massage part 1200 may be arranged on at least one of one side and the other side of the body massage part 1100. For example, the arm massage part 1200 may include at least one of the following arm massage parts: a first arm massage part 1210, arranged on one side of the body massage part 1100, to massage one side of the user's arm; and a second arm massage part 1230, arranged on the other side of the body massage part 1100, to massage the other side of the user's arm. The first arm massage part 1210 may be arranged on one side of at least one of the seat part and the backrest part of the body massage part 1100. The second arm massage part 1230 may be arranged on the other side of at least one of the seat part and the backrest part of the body massage part 1100. The first and second arm massage parts 1210, 1230 may be based on the control part 1400 (refer to Figure 3 ) controls, working independently of each other.

[0102] The leg massage part 1300 may be disposed at the lower part of the body massage part 1100 and / or the lower front part of the massage device 1000. The leg massage part 1300 may include at least one of the following leg massage parts: a first leg massage part 1310 disposed at one side of the leg massage part 1300 to massage one side of the user's leg; and a second leg massage part 1330 disposed at the other side of the leg massage part 1300 to massage the other side of the user's leg.

[0103] The leg massage part 1300 includes a receiving space for receiving the 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 part 1300 may include a calf massage part for massaging the user's calves and / or a foot massage part for massaging the user's feet.

[0104] The length of the leg massage part 1300 can be adjusted according to the user's physical characteristics. For example, when a tall user uses the massage device 1000, the length of the leg massage part 1300 needs to be lengthened due to the long length of the calf. In addition, when a short user uses the massage device 1000, the leg massage part 1300 needs to be shortened due to the short length of the calf. Therefore, the leg massage part 1300 can provide a leg massage customized for the user's height. According to one embodiment of the utility model, the user can control the massage device 1000 using the massage device control device 2000. The massage device control device 2000 can be connected to the massage device 1000 via wired communication and / or wireless communication.

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

[0106] Figure 2 It is a diagram for explaining the main frame of one embodiment of the utility model.

[0107] According to an embodiment of the present invention, the main frame 1130 may include an upper frame 1131 provided with the massage module 1110 and a base frame 1132 for supporting the upper frame 1131 .

[0108] A rack 1131a may be provided at least in a portion of the upper frame 1131. The rack 1131a is a member for guiding the massage module 1110 to move up and down, and may include a plurality of valleys and a plurality of ridges.

[0109] According to an embodiment of the present invention, the racks 1131 a may be disposed on two sides of the upper frame 1131 facing each other, and the massage module 1110 may be able to move along the racks 1131 a .

[0110] exist Figure 2 In the embodiment, the rack 1131a is formed in the up-down direction, but is not limited thereto. The rack 1131a may include a rack in the front-to-back direction and a rack in the up-to-down direction. In the present invention, the front-to-back direction may refer to a direction from the massage module 1110 toward the user or from the user toward the massage module 1110.

[0111] The massage module 1110 may include a gear meshed with the rack 1131a. More specifically, the massage module 1110 may include gears meshed with the racks in the front-rear direction and the racks in the up-down direction, respectively. The gears are rotated by an actuator provided in the massage module 1110, so that the massage module 1110 can move forward, backward, upward or downward.

[0112] As the massage module 1110 moves forward, the massage intensity may increase. In addition, as the massage module 1110 moves backward, the massage intensity may decrease.

[0113] The rack 1131a may be made of a metal material or a plastic material. For example, the rack 1131a may be made of iron, steel, alloy, reinforced plastic, melamine resin, phenolic resin, etc., but is not limited thereto.

[0114] The upper frame 1131 may be implemented in various shapes. For example, the upper frame 1131 may be divided into an S frame, an L frame, an S&L frame, a double S&L frame according to the shape, but is not limited thereto.

[0115] The S frame refers to a frame in which at least a portion of the upper frame 1131 includes a shape bent like "S". The L frame refers to a frame in which at least a portion of the upper frame 1131 includes a shape bent like "L". The S&L frame refers to a frame including both a shape bent like "S" and a shape bent like "L". The double S&L frame refers to a frame including a shape bent like "L" and a shape bent like "S" in two portions.

[0116] The base frame 1132 refers to a portion that supports the upper frame 1131 and is connected to the ground or the installation surface of the massage device 1000. The base frame 1132 may include a base upper frame 1132a and a base lower frame 1132b.

[0117] The base upper frame 1132a may support the upper frame 1131, and the base lower frame 1132b may be connected to the ground or the installation surface of the massage device 1000. In addition, the base upper frame 1132a may be provided in a manner of being connected to the base lower frame 1132b.

[0118] According to an embodiment of the present invention, the base upper frame 1132a can move along the base lower frame 1132b. For example, the base upper frame 1132a can slide forward or backward along the base lower frame 1132b. In this case, the upper frame 1131 is connected to the base upper frame 1132a so as to move along with the movement of the base upper frame 1132a.

[0119] For example, when the base upper frame 1132a moves forward, the upper frame 1131 can also move forward together, and when the base upper frame 1132a moves backward, the upper frame 1131 can also move backward together. This allows the body massage part 1100 to slide.

[0120] In order to allow the movement of the base upper frame 1132a, a moving wheel may be provided at the lower portion of the base upper frame 1132a. In addition, a guide member capable of guiding the moving wheel may be provided at the upper portion of the base lower frame 1132b. The moving wheel provided on the base upper frame 1132a moves along the guide member provided on the base lower frame 1132b, thereby allowing the base upper frame 1132a to move forward or backward.

[0121] According to another embodiment of the present invention, the massage device 1000 may not provide a sliding function, in which case the base frame 1132 may not be separated into an upper frame and a lower frame.

[0122] Figure 3 It is a diagram for explaining the specific structure of a massage device according to one embodiment of the present utility model.

[0123] According to an embodiment of the present invention, the massage device 1000 may include at least one of a control unit 1400, a sensor unit 1410, a communication unit 1420, a memory 1430, an audio output unit 1440, and an interface unit 1450. The control unit 1400 may include at least one processor and a memory. At least one processor may execute commands stored in the memory.

[0124] The control part 1400 may control the massage device 1000. For example, the control part 1400 may control at least one of the body massage part 1100, the arm massage part 1200, the leg massage part 1300, the sensor part 1410, the communication part 1420, the memory 1430, the audio output part 1440, the interface part 1450, and the output part. In addition, the control part 1400 may control various specific structures required to drive the massage device 1000 that are not described above.

[0125] The control unit 1400 may include at least one processor. When the control unit 1400 includes a plurality of processors, at least a portion of the plurality of processors may be located at locations physically spaced apart from each other. In addition, without limitation thereto, the massage device 1000 may be implemented in a variety of ways.

[0126] According to an embodiment of the present invention, the control unit 1400 can control the operation of the massage device 1000. For example, the massage device 1000 may include a plurality of actuators, and the control unit 1400 can control the operation of the plurality of actuators to control the operation of the massage device 1000.

[0127] For example, the massage device 1000 may include a driving portion that moves the armrest frame support portion, at least one actuator included in the massage module 1110, a back angle actuator, a leg angle actuator, a foot massage actuator, a leg length adjustment actuator, and at least one of a sliding actuator.

[0128] The back angle actuator is an actuator for adjusting the angle of the portion of the massage device 1000 that contacts the user's back, and the back angle of the massage device 1000 can be adjusted by the operation of the back angle actuator. The leg angle actuator is an actuator for adjusting the angle of the leg massage part 1300 of the massage device 1000, and the angle between the leg massage part 1300 and the body massage part 1100 can be adjusted by the operation of the leg angle actuator. The foot massage actuator is an actuator for operating the foot massage module included in the leg massage part 1300. For example, the control part 1400 can provide foot massage to the user by using the foot massage actuator. The leg length adjustment actuator is an actuator for adjusting the length of the leg massage part 1300. For example, the control part 1400 can use the leg length adjustment actuator to adjust the length of the leg massage part 1300 so that it can match the user, and as a result, the user can enjoy a massage that matches the body shape.

[0129] At least one actuator included in the massage module 1110 may be various actuators such as a moving actuator, a forward / backward actuator, and a massage actuator.

[0130] The moving actuator is an actuator capable of moving the massage module 1110 up and down, and can move the massage module 1110 along the main frame 1130 in at least one of the upper and lower directions of the massage device 1000. The massage module 1110 can move along the rack by the operation of the moving actuator. The forward / backward actuator can make the massage module 1110 move forward / backward (or tilt) in at least one direction of the front and rear of the massage module 1110. In other words, the massage module 1110 can be tilted in at least one direction of the front and rear of the massage module 1110 by the forward / backward actuator. The massage actuator can make the massage module 1110 perform various movements to provide various massage actions to the user.

[0131] The control unit 1400 may control the operation of the massage device 1000 by controlling the specific structure of the massage device 1000 .

[0132] The control unit 1400 can provide various massage actions by operating at least one actuator in the massage device 1000. For example, the control unit 1400 can provide slapping massage, kneading massage, etc. by operating at least one actuator in the massage module 1110, but is not limited thereto, and can provide various massage actions.

[0133] The memory 1430 may be included in the control unit 1400 or provided outside the control unit 1400. The memory 1430 may store various information related to the massage device 1000. For example, the memory 1430 may include massage control information and may include information related to the user, but is not limited thereto. The information related to the user may be various information related to the user, such as personal authentication information, biometric information of the user (e.g., age, height, weight, blood pressure, body composition, heart rate, electrocardiogram, etc.).

[0134] The memory 1430 may be implemented by a non-volatile storage medium that can continuously store any data. For example, the memory 1430 may include not only a magnetic disk, an optical disk, and a magneto-optical storage device, but also a storage device based on flash memory and / or battery backup memory, but is not limited thereto.

[0135] The memory 1430 may be a main storage device directly accessed by the processor, such as a random access memory (RAM) such as a dynamic random access memory (DRAM) or a static random access memory (SRAM), or a volatile storage device that instantly deletes stored information when the power is turned off, but is not limited thereto. Such a memory 1430 may be operated by the control unit 1400.

[0136] The massage device 1000 may include a sensor unit 1410. The sensor unit 1410 may obtain various information by using at least one sensor. The sensor unit 1410 may be configured as a sensor using a measuring means such as pressure, electric potential, and optics. For example, the sensor may include a pressure sensor, an infrared sensor, an LED sensor, a contact sensor, an electrode sensor, an air pressure measuring sensor, etc., but is not limited thereto.

[0137] The sensor unit 1410 may include a biometric information acquisition sensor. The biometric information acquisition sensor may acquire at least one of fingerprint information, facial information, voice information, iris information, weight information, blood pressure information, heart rate (or heartbeat) information, electrocardiogram information, body composition information, etc., but is not limited thereto and may include a variety of biometric information. The massage device 1000 may provide customized massage based on the information acquired through the sensor.

[0138] The massage device 1000 may sense the contact area and / or contact position with the user through the sensor. In addition, the massage device 1000 may provide a customized massage based on the information obtained through the sensor. The sensor part 1410 may include a safety sensor module 1500. The safety sensor module 1500, when pressurized by the user's body or by other objects, may control the driving of the leg massage part 1300 or send an alarm to the user. The safety sensor module 1500 will be described in detail later.

[0139] The communication part 1420 may receive a signal transmitted from an external device or transmit a signal regarding the massage device 1000 to the external device.

[0140] For example, the control part 1400 acquires a result signal by processing a signal received through the communication part 1420, and may transfer the result signal to the communication part 1420. The communication part 1420 may transmit (or output) the result signal to an external device.

[0141] The control unit 1400 may acquire information related to various structures included in the massage device 1000 (e.g., information related to the massage module 1110, information related to the arm massage unit 1200, etc.), and transmit it to the communication unit 1420. The communication unit 1420 may transmit information related to the massage device 1000 to an external device.

[0142] The communication unit 1420 communicates with the modules inside the massage device 1000, the external massage device and / or the user terminal through any form of network. The communication unit may include a wired / wireless connection module for connecting to the network. As a wireless connection technology, for example, wireless local area network (Wireless LAN, WLAN) (Wi-Fi), wireless broadband (Wirelessbroadband, Wibro), World Interoperability for Microwave Access (World Interoperability for Microwave Access, Wimax), High Speed ​​Downlink Packet Access (High Speed ​​Downlink Packet Access, HSDPA), etc. can be used. As a wired connection technology, for example, digital subscriber line (Digital Subscriber Line, XDSL), fiber to the home (Fibers to the home, FTTH), power line communication (Power Line Communication, PLC), etc. are used. In addition, the network connection unit includes a short-range communication module, which can send and receive data with any device / terminal located in a short distance. For example, as short range communication technology, Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra-Wideband (UWB), ZigBee, etc. can be used, but are not limited to these.

[0143] The massage device 1000 may further include an interface portion 1450 .

[0144] The interface part 1450 may be disposed on at least a portion of the massage device 1000. For example, the interface part 1450 may be disposed on the outside of the arm massage part 1200.

[0145] The interface unit 1450 may further include an input unit and / or an output unit. The input unit may receive the user's input and send it to the control unit 1400. The output unit may display information about the massage device 1000. For example, the output unit may output various information such as the processing result of the control unit 1400, the operation information of at least one of the body massage unit 1100, the arm massage unit 1200, and the leg massage unit 1300, and the information about the massage mode being performed.

[0146] Specifically, the input unit can receive commands from the user regarding the operation control of the massage device 1000, and the input unit can be implemented in various ways. For example, the input unit can be set in the body massage unit 1100, and can also be set in the leg massage unit 1300, but is not limited thereto. In addition, the input unit may include Figure 1 The user input unit 1140, the massage device control device 2000 or will be Figure 4 Various external devices are described.

[0147] The massage device 1000 can obtain various commands from the user through the input unit. For example, the massage device 1000 can receive arbitrary commands such as selection of a massage module, selection of a massage type, selection of a massage intensity, selection of a massage time, selection of a massage part, selection of a position and operation of the body massage part 1100, selection of turning on / off the power of the massage device 1000, selection of whether to start a heating function operation, selection related to sound source playback, etc., but is not limited thereto.

[0148] The massage device 1000 may provide an interface through which a massage mode may be selected through the interface part 1450. For example, the input part and / or the output part may include a massage device control apparatus 2000. A list of medical massages of various modes related to body improvement may be listed through the massage device control apparatus 2000.

[0149] The medical massage mode may include at least one of a concentration mode, a meditation mode, a recovery mode, a stretching mode, a sleep mode, a vitality mode, a golf mode, a buttocks shaping mode, a test taker mode, a weightlessness mode, and a growth mode.

[0150] According to another embodiment of the present invention, the interface unit 1450 may have buttons in the form of hot keys and / or option buttons for selecting, canceling, and inputting execution directions according to preset user-set functions or self-preset functions.

[0151] The interface unit 1450 may be implemented by a touch screen, a keyboard, a dome switch, a touch pad (static pressure / static electricity), a rotary wheel, a jog switch, etc., but is not limited thereto. Moreover, the interface unit 1450 may obtain commands according to the user's voice based on voice recognition technology.

[0152] The output unit may include a display for displaying the working status of the massage device 1000 or the current status of the user, etc. In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, and a three-dimensional display (3D display), but is not limited thereto.

[0153] The output portion may include an audio output portion 1440 . Figure 3 The audio output unit 1440 may include Figure 1 For example, as described above, the audio output module 1120 can be configured at various locations of the massage device 1000. Figure 1 As shown, in the entire area of ​​the body massage part 1100 of the massage device 1000, the audio output module 1120 can be configured in the area corresponding to the user's head. At this time, the area corresponding to the user's head can be an area corresponding to at least one of the upper and side parts of the entire area of ​​the body massage part 1100.

[0154] The audio output unit 1440 can provide any form of audio output to the user. For example, the audio output unit 1440 outputs to the user a sound source and / or binaural beats that are optimal for the massage method provided by the massage device 1000, thereby providing brain stimulation to the user. The audio output unit 1440 can output an audio signal received through a network (not shown) or stored in an internal / external storage medium (not shown). For example, the audio output unit 1440 can output an audio source based on the control of the user terminal through a user terminal and a network connection (for example, a Bluetooth connection, etc.). In addition, the audio output unit 1440 can output any form of audio signal that occurs in association with the operation of the massage device 1000.

[0155] Those skilled in the art will appreciate that the present invention can be implemented in combination with other program modules and / or by combining hardware and software. For example, the present invention can be implemented by a computer-readable medium.

[0156] The medium accessible by the computer can be any computer-readable medium, including volatile and non-volatile media, transient (transitory) and non-transitory (non-transitory) media, removable and non-removable media. As an example and not limitation, computer-readable media can include computer-readable storage media and computer-readable transmission media.

[0157] Computer-readable storage media include volatile and non-volatile media, transient and non-transient media, removable and non-removable media for storing information such as computer-readable instructions, data structures, program modules or other data and which can be embodied by some methods or technologies. Computer-readable storage media may include RAM, ROM, EEPROM, flash memory or other storage technology, CD-ROM, digital video disk (DVD) or other optical disk storage device, cassette tape, magnetic tape, magnetic disk storage device or other magnetic storage device, or any other medium that can be accessed by a computer and can be used to store the required information, but is not limited to this.

[0158] Figure 4 1 is a diagram showing an external device that can communicate with the massage device 1000 according to an embodiment of the present invention.

[0159] The massage device 1000 can communicate with the external device 3000 via wired and / or wireless communication through the communication unit 1420 to send and receive various data.

[0160] The external device 3000 may include a portable electronic device 3100, such as an AI speaker, a tablet computer, or a smart phone. The portable electronic device 3100 may be a dedicated or general portable electronic device for the massage device 1000. In addition, the external device 3000 may include a wearable device 3200 such as a smart watch and / or a smart bracelet. The external device 3000 may include other massage devices 3300 in addition to the massage device 1000 currently used by the user. The external device 3000 may include a hospital server 3400. The external device 3000 may include a personal health record (PHR) server. In addition, the external device 3000 may include a cloud server 3500. The external device 3000 may include a medical measuring device such as an electronic scale, a blood glucose meter, or a blood pressure meter.

[0161] Although some examples of the external device 3000 have been described in the present invention, it should be understood that any device that can communicate with the massage device 1000 by wire or wirelessly and can send and receive information with each other can be included in the external device.

[0162] Figure 5 It is a diagram for explaining that the leg massage part in the massage device according to one embodiment of the present utility model rotates independently.

[0163] Reference Figure 5 The leg massage part 1300 may be configured to correspond to both sides of the user's legs. For example, the leg massage part 1300 may include: a first leg massage part 1310 corresponding to one side of the user's legs; and a second leg massage part 1330 corresponding to the other side of the user's legs.

[0164] The first leg massage part 1310 and the second leg massage part 1330 can be controlled independently. For example, the first leg massage part 1310 and the second leg massage part 1330 can provide massage functions to the user separately. In addition, the first leg massage part 1310 and the second leg massage part 1330 can rotate independently. Different massages can be provided for the legs of the user on both sides according to demand or massages can be provided alternately to the legs on both sides. In addition, stretching or massage according to rotation can be provided for the legs of the user on both sides. In this case, the first leg massage part 1310 and the second leg massage part 1330 can rotate the legs of the user on both sides simultaneously or individually.

[0165] Figure 6 It is used to illustrate Figure 5 Illustration of the principle of rotation of the leg massage part.

[0166] Reference Figure 6 , the massage device 1000 may include a leg angle actuator 1350 for rotating the leg massage part 1300. The leg angle actuator 1350 may be disposed inside the body massage part 1100. For example, the leg angle actuator may be connected to the main frame 1130.

[0167] The leg angle actuator 1350 may be driven to extend in one direction. The leg massage part 1300 may rotate as the leg angle actuator 1350 extends. The leg angle actuator 1350 may be provided to correspond to the first leg massage part 1310 and the second leg massage part 1330, respectively. The two leg angle actuators 1350 are respectively connected to the first leg massage part 1310 and the second leg massage part 1330, so that the first leg massage part 1310 and the second leg massage part 1330 can be rotated separately.

[0168] The leg angle actuator 1350 may include a link member 1351 at one end. The link member 1351 may provide rotational power to the leg massaging part 1300 by contacting the leg massaging part 1300. A wheel 1351a may be provided at an end of the link member 1351 on the leg massaging part 1300 side.

[0169] Figure 7 1 is a diagram showing a state in which a leg massage part according to an embodiment of the present invention is connected to a leg connection frame.

[0170] Reference Figure 7 , the leg massage part 1300 may be rotatably connected to the leg connection frame 1131b. The upper frame 1131 may include the leg connection frame 1131b. The leg connection frame 1131b may be disposed at a front end of the upper frame 1131. The leg connection frame 1131b may be manufactured as a separate component and coupled to the upper frame 1131, or may be manufactured integrally with the upper frame 1131. When the leg connection frame 1131b is manufactured integrally with the upper frame 1131, the leg connection frame 1131b may refer to a constituent element of the upper frame 1131.

[0171] The leg connection frame 1131b may be connected to a central support bracket 1530 and a side support bracket 1550. For example, the central support bracket 1530 and the side support bracket 1550 may be welded to the leg connection frame 1131b, or may be combined by fastening members such as bolts, rivets, etc. However, the method of combining the central support bracket 1530 and the side support bracket 1550 to the leg connection frame 1131b may be replaced by various methods commonly used in the technical field to which the utility model belongs.

[0172] The central supporting bracket 1530 and the side supporting bracket 1550 may rotatably fix the leg massaging part 1300 .

[0173] The first leg massage part 1310 and the second leg massage part 1330 may be arranged in front of the leg connection frame 1131b. For example, the first leg massage part 1310 may be arranged in the front right side of the leg connection frame 1131b, and the second leg massage part 1330 may be arranged in the front left side of the leg connection frame 1131b.

[0174] Figure 8 is along Figure 7 A-A' line cross-sectional view, Fig. 9 is along Figure 7 Cross-sectional view along line BB'.

[0175] Reference Figure 8 and Fig. 9 The first leg massaging part 1310 may include a first center bushing 1311 , a first side bushing 1312 , a first shaft 1313 , and a first leg frame 1314 .

[0176] The first shaft 1313 may pass through the first leg frame 1314 and be coupled to the first leg frame 1314. For example, the first shaft sleeve 1314a may be disposed inside the first leg frame 1314, and the first shaft 1313 passes through the first shaft sleeve 1314a and is coupled. The first shaft 1313 may be fixed to the first shaft sleeve 1314a. For example, the first shaft 1313 may be welded to the first shaft sleeve 1314a or may be coupled by a separate fastening member. The method of coupling the first shaft 1313 to the first shaft sleeve 1314a is not limited to the above-described embodiment, and may be replaced by various methods commonly used in the technical field to which the utility model belongs.

[0177] Both side ends of the first shaft 1313 may be exposed to the outside of the first leg frame 1314. The first center bushing 1311 and the first side bushing 1312 may be combined with both side ends of the first shaft 1313 exposed to the outside of the first leg frame 1314.

[0178] One end portion of the first shaft 1313 is inserted into and coupled to the first center bushing 1311 , and the other end portion may be inserted into and coupled to the first side bushing 1312 .

[0179] The first center bushing 1311 and the first side bushing 1312 may include a resin material. As an example, the first center bushing 1311 and the first side bushing 1312 may include a synthetic resin. As an example, the synthetic resin may include polyacetal (POM). Since the first center bushing 1311 and the first side bushing 1312 include the synthetic resin, wear resistance and fatigue resistance may be improved.

[0180] In addition, the first center bushing 1311 and the first side bushing 1312 may include glass fiber. Since the first center bushing 1311 and the first side bushing 1312 include glass fiber, corrosion resistance and insulation properties may be improved.

[0181] The first center bushing 1311, the first side bushing 1312, and the first shaft 1313 may also be manufactured integrally. In this case, the first center bushing 1311, the first side bushing 1312, and the first shaft 1313 may be made of the same material. As an example, the first center bushing 1311, the first side bushing 1312, and the first shaft 1313 may be made of a metal material.

[0182] The first center bushing 1311 and the first side bushing 1312 may be rotatably fixed to the center support bracket 1530 and the side support bracket 1550 , respectively.

[0183] A first central support rib 1311a for preventing separation from the central support bracket 1530 may be protrudingly provided on the outer peripheral surface of the first central bushing 1311. The first central support rib 1311a may be protrudingly provided radially outward. The bearing 1533 may be coupled to the outer peripheral surface of the outer peripheral surface of the first central bushing 1311 where the first central support rib 1311a is not formed. The bearing 1533 may be supported by the central support bracket 1530.

[0184] A first side support rib 1312a for preventing the first side bushing 1312 from being separated from the side support bracket 1550 may be protrudingly provided on the outer peripheral surface of the first side bushing 1312. The first side support rib 1312a may be protrudingly provided radially outward. The bearing 1533 may be coupled to the outer peripheral surface of the first side bushing 1312 where the first side support rib 1312a is not formed. The bearing 1533 may be supported by the side support bracket 1550.

[0185] The second leg massage part 1330 may include a second center bushing 1321, a second side bushing 1322, a second shaft 1323, and a second leg frame 1324. The second shaft 1323 may penetrate the second leg frame 1324 and be coupled to the second leg frame 1324. For example, a second sleeve 1324a may be provided inside the second leg frame 1324, and the second shaft 1323 may penetrate the second sleeve 1324a and be coupled to the second sleeve 1324a. The second center support rib 1321a may be provided on the outer peripheral surface of the second center bushing 1321, and the bearing 1533 may be coupled to the outer peripheral surface where the second center support rib 1321a is not formed. The second side support rib 1322a may be provided on the outer peripheral surface of the second side bushing 1322, and the bearing 1533 may be coupled to the outer peripheral surface where the second side support rib 1322a is not formed.

[0186] The structures are components corresponding to the first center bushing 1311, the first side bushing 1312, the first shaft 1313 and the first leg frame 1314 of the first leg massage part 1310, respectively, and have the same functions and structures (left-right symmetry). Therefore, the repeated description of the specific structure of the second leg massage part 1330 will be omitted and replaced with the above description.

[0187] Fig. 10A 1 is a diagram showing a state in which a shaft of an embodiment of the utility model is connected to a central support bracket and a side support bracket, Fig. 10B is a diagram showing a state in which a central rotating member rotates, Fig.11 yes Fig. 10A A schematic top view of Fig. 12A is along Fig. 10A The cross-sectional view of the C-C' line, Fig. 12B It is another embodiment of the utility model along Fig. 10ACross-sectional view along line C-C'.

[0188] Reference FIG. 10A to FIG. 12B , the central supporting bracket 1530 and the side supporting bracket 1550 may be coupled to the leg connecting frame 1131b.

[0189] The central support bracket 1530 may be disposed at a central portion of the leg connection frame 1131 b . The central support bracket 1530 may rotatably fix the first central bushing 1311 of the first leg massage part 1310 and the second central bushing 1321 of the second leg massage part 1330 .

[0190] On the other hand, in order to ensure smooth rotation between the center support bracket 1530 and the center bushings 1311 and 1321, a bearing 1533 (see Fig. 12B ). The bearing 1533 may include various bearings used in the technical field to which the utility model belongs, for example, a ball bearing, a thrust bearing, a needle bearing, a cylindrical bearing, a spherical roller bearing, and the like.

[0191] The central supporting bracket 1530 may include a central fixing member 1531 and a central rotating member 1532 .

[0192] The central fixing member 1531 may be welded to the leg connection frame 1131b or may be coupled by a separate fastening member. One side of the central rotating member 1532 may be rotatably hingedly coupled to the central fixing member 1531. When the central rotating member 1532 rotates so that its end contacts the central fixing member 1531, it may be connected by a fastening member.

[0193] The central fixing member 1531 may include a first central fixing member 1531a and a second central fixing member 1531b. The first central fixing member 1531a and the second central fixing member 1531b may be provided in corresponding shapes.

[0194] The central rotating member 1532 may include a first central rotating member 1532a and a second central rotating member 1532b. The first central rotating member 1532a and the second central rotating member 1532b may be provided in corresponding shapes.

[0195] The first and second central rotating members 1532a and 1532b may be rotatably coupled to the first and second central fixing members 1531a and 1531b, respectively.

[0196] The first center fixing member 1531a and the first center rotating member 1532a may rotatably fix the first center bushing 1311. The second center fixing member 1531b and the second center rotating member 1532b may rotatably fix the second center bushing 1321.

[0197] Fig.13A 2 is a diagram showing a central support bracket of another embodiment of the utility model. Fig. 13B 2 is a diagram showing a central support bracket according to another embodiment of the present invention.

[0198] Reference Fig.13A , the first central rotating member 1532a and the second central rotating member 1532b can be connected by the central rotating member cover 1532c. For example, one side of the central rotating member cover 1532c can be connected to the inner side of the first central rotating member 1532a, and the other side can be connected to the inner side of the second central rotating member 1532b. The central rotating member cover 1532c can be welded to the first central rotating member 1532a and the second central rotating member 1532b or can be connected by a separate fastening member. However, the first central rotating member 1532a, the second central rotating member 1532b and the central rotating member cover 1532c can also be set as one body. In other words, the first central rotating member 1532a, the second central rotating member 1532b and the central rotating member cover 1532c can be set as one body by bending and cutting one member multiple times.

[0199] Reference Fig. 13B , the central rotating member cover 1532c can be connected to the outer sides of the first central rotating member 1532a and the second central rotating member 1532b. The central rotating member cover 1532c can be welded to the first central rotating member 1532a and the second central rotating member 1532b, or can be connected by a separate fastening member. In this case, the central rotating member 1532c can be arranged to cover the upper parts of the first central rotating member 1532a and the second central rotating member 1532b as a whole.

[0200] Furthermore, the central rotating member cover 1532c may be connected to the first central rotating member 1532a and the second central rotating member 1532b by a mechanical structure such as a sliding connection or a hook connection. As long as the central rotating member cover 1532c corresponds to a structure provided to cover at least a portion of the upper portions of the first central rotating member 1532a and the second central rotating member 1532b, the structure for connecting the central rotating member cover 1532c may be replaced by various methods commonly used in the technical field to which the present utility model belongs.

[0201] The central support bracket 1530 may correspond to a component of the safety sensor module 1500 described later. The specific structure of the central support bracket 1530 will be described in detail later.

[0202] The side support bracket 1550 may be provided at both sides of the leg connection frame 1131b. The side support bracket 1550 may include a first side support bracket 1550a provided at the right end portion of the leg connection frame 1131b and a second side support bracket 1550b provided at the left end portion. The first side support bracket 1550a and the second side support bracket 1550b may be provided in corresponding shapes.

[0203] The first side support bracket 1550a may rotatably fix the first side bushing 1312. The second side support bracket 1550b may rotatably fix the second side bushing 1322. For smooth rotation between the side support bracket 1550 and the side bushings 1312, 1322, a bearing may be provided.

[0204] For example, the side supporting bracket 1550 may include a side fixing member 1551 and a side rotating member 1552 .

[0205] The side fixing member 1551 may be welded to the leg connection frame 1131b or may be coupled by a separate fastening member. The side fixing member 1551 may be rotatably coupled to one side of the side rotating member 1552. When the side rotating member 1552 rotates so that its end contacts the side fixing member 1551, it may be connected by the fastening member.

[0206] Fig.14A and Fig. 14B is a diagram showing a process of fastening a center bushing to a center support bracket, Fig. 14C and Fig.14D 2 is a diagram showing a process of fastening a side bushing to a side support bracket.

[0207] Reference Fig.14A and Fig. 14B , a process of fastening the first center bushing 1311 to the center support bracket 1530 is described.

[0208] The first central fixing member 1531a may be combined with the leg connection frame 1131b. For example, the first central fixing member 1531a may be welded to the leg connection frame 1131b in a state where the leg connection frame 1131b is inserted into the leg connection frame insertion groove 1531d-1 formed at one side of the first central fixing member 1531a or may be combined by a separate fastening member.

[0209] When the first central fixing member 1531a is combined with the leg connecting frame 1131b, the first central rotating member 1532a can be rotated upward. For example, the first central rotating member 1532a can be rotatably hinged to the first central fixing member 1531a through the central rotating shaft 1532a-1, and can be rotated upward based on the central rotating shaft 1532a-1. Here, the central rotating shaft 1532a-1 can refer to a separate rotating shaft that rotatably connects the first central fixing member 1531a and the first central rotating member 1532a. However, the central rotating shaft 1532a-1 can also be set as one with either the first central fixing member 1531a or the first central rotating member 1532a.

[0210] The first center bushing 1311 may be seated in the center bushing receiving groove 1531d-5 of the first center fixing member 1531a.

[0211] When the first center bushing 1311 is installed, the first center rotating member 1532a can be rotated downward. At this time, at least a portion of the upper peripheral surface of the first center bushing 1311 can be accommodated in the center bushing fixing groove 1532d of the first center rotating member 1532a. The center bushing accommodating groove 1531d-5 and the center bushing fixing groove 1532d can rotatably support the first center bushing 1311.

[0212] When the first central rotating member 1532a is rotated downward and the end portion contacts the fixing piece 1531d-4 of the first central fixing member, the first central rotating member 1532a may be connected to the fixing piece 1531d-4 by the fastening member.

[0213] The process of fastening the second center bushing 1321 to the center support bracket 1530 is the same as the process of fastening the first center bushing 1311 to the center support bracket 1530 described above.

[0214] Reference Fig. 14B and Fig. 14C , a process of fastening the first side bushing 1312 to the first side support bracket 1550a is described.

[0215] The side fixing member 1551 may be combined with the leg connection frame 1131b. For example, the side fixing member 1551 may be welded to the leg connection frame 1131b or may be combined by a separate fastening member.

[0216] When the side fixing member 1551 is combined with the leg connection frame 1131b, the side rotation member 1552 can be rotated upward. For example, the side rotation member 1552 can be rotatably hinged to the side fixing member 1551 through the side rotation shaft 1552b, and can be rotated upward based on the side rotation shaft 1552b. Here, the side rotation shaft 1552b can refer to a separate rotation shaft that rotatably connects the side fixing member 1551 and the side rotation member 1552. However, the side rotation shaft 1552b can also be provided as a whole with either the side fixing member 1551 or the side rotation member 1552.

[0217] The first side bushing 1312 may be seated in the side bushing receiving groove 1551 a of the side fixing member 1551 .

[0218] When the first side bushing 1312 is installed, the side rotating member 1552 may be rotated downward. At this time, at least a portion of the upper peripheral surface of the first side bushing 1312 may be accommodated in the side bushing fixing groove 1552a of the side rotating member 1552. The side bushing accommodating groove 1551a and the side bushing fixing groove 1552a may rotatably support the first side bushing 1312.

[0219] When the side rotation member 1552 is rotated downward and the end portion is in contact with the side fixing member 1551 , the side rotation member 1552 may be connected to the side fixing member 1551 by the fastening member.

[0220] The process of fastening the second side bushing 1322 to the second side support bracket 1550b is the same as the process of fastening the first side bushing 1312 to the first side support bracket 1550a described above.

[0221] As described above, since the central bushing and the side bushings may be fixed by being seated on the central support bracket 1530 and the side support bracket 1550 and fastened, the leg massage part 1300 may be easily connected to the body massage part 1100 .

[0222] Fig.15 yes Figure 7 The enlarged view of part D, Fig.16 1 is a diagram showing a decomposed state of a safety sensor module according to an embodiment of the present invention. Fig.17 FIG. 1 is a diagram showing another embodiment of the safety sensor module according to the embodiment of the present invention.

[0223] Reference Fig.15 and Fig.16 According to an embodiment of the present invention, the massage device 1000 may include a safety sensor module 1500 .

[0224] The safety sensor module 1500 may be disposed at the leg connection frame 1131 b. For example, the safety sensor module 1500 may be disposed at a portion of the leg connection frame 1131 b corresponding to a space between the first leg massage part 1310 and the second leg massage part 1330.

[0225] When an external force is applied, the safety sensor module 1500 may control the driving of at least one of the first leg massage part 1310 and the second leg massage part 1330. For example, when an external force is applied, the safety sensor module 1500 may stop the rotation operation of at least one of the first leg massage part 1310 and the second leg massage part 1330. In addition, when an external force is applied, the safety sensor module 1500 may rotate the first leg massage part 1310 and the second leg massage part 1330 by a specified angle in a direction opposite to the direction in which at least one of the first leg massage part 1310 and the second leg massage part 1330 rotates.

[0226] The safety sensor module 1500 may include an alarm unit (not shown), which sends a warning signal to the user when an external force is applied. The alarm unit may include, for example, at least one of a light, an audio, and a vibration element. The light can send a warning signal by irradiating light to the user. The audio may correspond to the audio output module 1120 or may refer to a separate audio device. The audio may send a warning signal to the user through an alarm sound. The vibration element may be provided as a vibration panel, a vibration actuator, etc. The vibration element may be provided in at least one of the body massage unit 1100, the arm massage unit 1200, and the leg massage unit 1300 to apply vibration to the user, thereby sending a warning signal. At this time, the light and / or the vibration element may be provided in the leg massage unit 1300. For example, the light can be provided at various positions of the appearance (or exterior) of the leg massage unit 1300. The vibration element may be provided in an area adjacent to the user's body (e.g., an area corresponding to the sole of the foot and an area corresponding to the calf, etc.) in the entire area of ​​the leg massage unit 1300.

[0227] Therefore, the safety sensor module 1500 can prevent a safety accident that may occur due to the user's body being caught between the leg massaging parts 1300. In addition, the safety sensor module 1500 can prevent device damage / malfunction that may occur due to an object flowing between the leg massaging parts 1300.

[0228] The safety sensor module 1500 may include a sensor bracket 1510 , a sensor 1520 , a center support bracket 1530 , and a pressure plate 1540 .

[0229] A sensor bracket 1510 may be provided to support the sensor 1520. The sensor bracket 1510 may be coupled to the leg connection frame 1131b. For example, the sensor bracket 1510 may be welded to the leg connection frame 1131b or may be coupled by a separate fastening member. The method of coupling the sensor bracket 1510 to the leg connection frame 1131b may be replaced by various methods commonly used in the technical field to which the present utility model belongs.

[0230] The sensor bracket 1510 may include a protruding portion 1511 and a bent portion 1512. One side of the protruding portion 1511 may be coupled to the leg connection frame 1131b, and the other side may protrude forward. The bent portion 1512 may be bent downward at the other side end of the protruding portion 1511. Therefore, the sensor bracket 1510 as a whole may be configured as follows: The sensor combining hole 1512 a may be provided in the bent portion 1512 .

[0231] The sensor 1520 may be coupled to the sensor bracket 1510. For example, the sensor 1520 may be coupled to the curved portion 1512 of the sensor bracket 1510. At this time, at least a portion of the sensor 1520 may pass through the sensor coupling hole 1512a. Therefore, at least a portion of the sensor 1520 may protrude forward of the curved portion 1512.

[0232] The sensor 1520 may recognize contact of the pressure plate 1540. For example, when an external force is applied to the pressure plate 1540 to rotate the pressure plate 1540, the pressure plate 1540 may contact the sensor 1520. When contacting the pressure plate 1540, the sensor 1520 may transmit corresponding information to the control part 1400. When receiving information that the pressure plate 1540 has been contacted from the sensor 1520, as described above, the control part 1400 may control at least one of the first leg massage part 1310 and the second leg massage part 1330 to drive. In addition, the control part 1400 may send a warning signal to the user by driving the alarm part.

[0233] The sensor 1520 may be configured as a sensor using a measuring means such as pressure, potential, and optics. As an example, the sensor 1520 may include: a sensor housing 1521; a contact portion 1522, which is provided in the sensor housing 1521 and detects contact with the pressure plate 1540; a fastening portion 1523, which is used to fasten with the sensor bracket 1510; and an electrode terminal 1524, which is used to electrically connect with an external device.

[0234] When pressure is applied through the pressure plate 1540, the contact portion 1522 may slide and move toward the inside of the sensor housing 1521. To this end, a separate elastic member that applies elastic force to the contact portion 1522 may be provided inside the sensor housing 1521. When the contact portion 1522 slides and moves toward the inside of the sensor housing 1521 under pressure, the sensor 1520 may send a signal to the control portion 1400, and thus, as described above, the control portion 1400 may control the driving of at least one of the first leg massage portion 1310 and the second leg massage portion 1330, or may send a warning signal to the user through the alarm portion.

[0235] A fastening portion 1523 may be provided to be combined with the sensor bracket 1510. The fastening portion 1523 may be made of a material having elastic force, and when the sensor 1520 is fastened, it may be inserted into the sensor combining hole 1512a formed in the sensor bracket 1510. In order to easily insert the sensor combining hole 1512a, the fastening portion 1523 may include an inclined surface. The inclined surface may be provided so that the distance from the sensor housing 1521 increases from the rear to the front of the sensor 1520 when one end portion is fixed to the sensor housing 1521. In addition, in order to easily contact the sensor combining hole 1512a, a flat surface may be provided at the other end portion of the inclined surface. The flat surface may contact the inner surface of the sensor combining hole 1512a. When the user holds it, the fastening portion 1523 may be folded toward the sensor housing 1521 side. Therefore, when it is necessary to separate the sensor 1520, the user can separate the sensor 1520 from the sensor bracket 1510 by holding the fastening portion 1523.

[0236] On the other hand, as long as the rotation or contact of the pressure plate 1540 can be identified, the sensor 1520 can be replaced by various sensors commonly used in the technical field of the utility model. For example, the sensor 1520 may include at least one of a pressure sensor, an infrared sensor, an LED sensor, a touch sensor, and an electrode sensor.

[0237] The central support bracket 1530 can be arranged on both sides of the sensor bracket 1510. The central support bracket 1530 can be manufactured as a component separate from the sensor bracket 1510 or can be manufactured integrally with the sensor bracket 1510. Alternatively, after the central support bracket 1530 and the sensor bracket 1510 are manufactured as separate components, the central support bracket 1530 and the sensor bracket 1510 can also be combined by welding or other methods. The method of combining the central support bracket 1530 and the sensor bracket 1510 can be replaced by various methods commonly used in the technical field to which the utility model belongs. The pressure plate 1540 can be rotatably connected to the central support bracket 1530. The central support bracket 1530 may include a central fixed component 1531 and a central rotating component 1532.

[0238] For example, the central fixing member 1531 may include: a base 1531c; and side portions 1531d protruding upward from both sides of the base 1531c. The base 1531c and the side portions 1531d may be formed by bending a single member. However, the base 1531c and the side portions 1531d may be manufactured as separate members and then combined.

[0239] The base 1531c may constitute the bottom surface of the central fixing member 1531. At least one stopper 1531e may be provided at the base 1531c. The stopper 1531e may limit the angle at which the pressure plate 1540 rotates in a direction away from the sensor 1520. The stopper 1531e may penetrate the base 1531c and the end portion may protrude downward from the base 1531c. When a single stopper 1531e is provided, the stopper 1531e may be arranged in the central area of ​​the base 1531c, and when a plurality of stoppers 1531e are provided, the stoppers 1531e may be arranged in at least one of the central area and the two side areas of the base 1531c.

[0240] The position and structure of the stopper 1531e can be changed in various ways as long as the rotation angle of the pressure plate 1540 can be limited. For example, the stopper 1531e can be attached to the bottom surface of the base 1531c so that the entire stopper 1531e protrudes below the base 1531c. In addition, the stopper 1531e can be manufactured integrally with the base 1531c. In addition, the stopper 1531e can also be set on the pressure plate 1540.

[0241] The side portion 1531d may include a leg connecting frame insertion groove 1531d-1. The leg connecting frame 1131b may be inserted into and coupled to the leg connecting frame insertion groove 1531d-1. The leg connecting frame insertion groove 1531d-1 may be provided by cutting a side end portion of the side portion 1531d facing the leg connecting frame 1131b. The leg connecting frame insertion groove 1531d-1 may be provided in a shape in which an inner surface is coupled to an outer surface of the leg connecting frame 1131b. When the leg connecting frame 1131b is inserted into the leg connecting frame insertion groove 1531d-1, a portion of the side portion 1531d in contact with the leg connecting frame 1131b may be welded. However, the method of coupling the side portion 1531d and the leg connecting frame 1131b may be replaced by various methods commonly used in the technical field to which the utility model belongs.

[0242] The side portion 1531d may include a central rotating member insertion groove 1531d-2. The central rotating member 1532 may be rotatably hinged to the central rotating member insertion groove 1531d-2. The central rotating member insertion groove 1531d-2 may be provided at various positions of the side portion 1531d, which positions are positions that allow the central rotating member 1532 to be rotatable at the upper portion of the side portion 1531d.

[0243] The side portion 1531d may include a pressure plate insertion groove 1531d-3. One side of the pressure plate 1540 may be rotatably hinged to the pressure plate insertion groove 1531d-3. The pressure plate insertion groove 1531d-3 may be provided on the other side of the pressure plate 1540 to rotate upward (refer to Fig.16 ) or rotate downward ( Fig.17 For example, the pressure plate insertion groove 1531d-3 may be provided at the lower front side of the side portion 1531d (see Fig.16 ) or the front upper side (refer to Fig.17 ).

[0244] Any of the side portions 1531d protruding from both sides of the base 1531c may be provided with a fixing piece 1531d-4 bent toward the other side portion 1531d. However, the fixing piece 1531d-4 may also be manufactured as a separate component and coupled to the side portions 1531d on both sides. When the central rotating member 1532 rotates and the end portion contacts the fixing piece 1531d-4, the end portion of the central rotating member 1532 and the fixing piece 1531d-4 may be connected by a fastening member.

[0245] The side portion 1531d may include a central bushing receiving groove 1531d-5. The central bushings 1311 and 1321 may be rotatably seated in the central bushing receiving groove 1531d-5. For example, the central bushing receiving groove 1531d-5 may be provided by cutting the upper end portion of the side portion 1531d.

[0246] The central rotating member 1532 may be rotatably hinged to the side portion 1531d. The central rotating member 1532 may include a central bushing fixing groove 1532d. When the central rotating member 1532 rotates and is connected to the fixing piece 1531d-4 of the side portion 1531d, the central bushing fixing groove 1532d may rotatably support the central bushings 1311, 1321 together with the central bushing receiving groove 1531d-5.

[0247] The pressure plate 1540 may be rotatably hinged to the central support bracket 1530. The pressure plate 1540 may include an elastic member 1541. The elastic member 1541 may apply an elastic force to the pressure plate 1540 so that the free end of the pressure plate 1540 rotates in a direction away from the sensor 1520. The elastic member 1541 may be configured as various members that may apply an elastic force to the pressure plate 1540. As an example, the elastic member 1541 may be configured as a torsion spring. When the elastic member 1541 is configured as a torsion spring, when the pressure plate 1540 rotates, both side ends of the torsion spring may contact at least one of the pressure plate 1540 and the central support bracket 1530.

[0248] In the case where the user's body or other objects are not sandwiched between the leg massage parts 1300 or between the leg massage parts 1300 and the body massage parts 1100 , the elastic member 1541 may simply prevent the user's body or other objects from contacting the pressure plate 1540 so that the pressure plate 1540 rotates.

[0249] The pressure plate 1540 may rotate and come into contact with the sensor 1520. For example, when an external force greater than the elastic force of the elastic member 1541 is applied to the pressure plate 1540, the pressure plate 1540 may rotate and come into contact with the sensor 1520.

[0250] Fig.18A and Fig.18B FIG. 1 is a diagram showing a driving process of a safety sensor module according to an embodiment of the present invention.

[0251] Reference Fig.18A By the elastic force of the elastic member 1541, one end of the pressure plate 1540 may be set to be separated from the sensor 1520, and the other end may contact the stopper 1531e. Since the elastic force is continuously applied to the pressure plate 1540, if the predetermined external force is not applied for a predetermined time, one end of the pressure plate 1540 may not contact the sensor 1520.

[0252] Reference Fig.18B , when at least one of the leg massage part 1300 and the body massage part 1100 rotates while the user's body is sandwiched between the leg massage part 1300 and / or between the leg massage part 1300 and the body massage part 1100, an external force F greater than the elastic force of the elastic member 1541 may be applied to the pressure plate 1540. In addition, as long as the sandwiched state is not released, the external force F may continue to act on the pressure plate 1540. In this case, the pressure plate 1540 may rotate, and one end portion may contact the sensor 1520. When the pressure plate 1540 contacts, the sensor 1520 may transmit corresponding information to the control part 1400. When receiving information that the pressure plate 1540 has been contacted from the sensor 1520, the control part 1400 may control the driving of at least one of the first leg massage part 1310, the second leg massage part 1330, and the body massage part 1100, or may drive the alarm part. Therefore, a safety accident that may occur due to the user's body being sandwiched between the leg massage parts 1300 and / or between the leg massage parts 1300 and the body massage parts 1100 may be prevented.

[0253] Furthermore, it is possible to prevent equipment failure and damage that may occur due to an object other than the user's body being caught between the leg massage parts 1300 or between the leg massage parts 1300 and the body massage parts 1100 .

[0254] Below, refer to Figures 19 to 22 , the alignment control process of the leg massage part 1300 in the massage device 1000 of one embodiment of the present invention is described.

[0255] Fig.19 FIG. 1 is a diagram showing an alignment sensor portion provided in the leg massage portion 1300 according to an embodiment of the present invention. Fig.19 The leg massage part 1300 may include alignment sensor parts 1310a and 1330a for alignment. Here, aligning the leg massage part 1300 may mean that the first leg massage part 1310 and the second leg massage part 1330 are arranged at the same position relative to the ground or the installation surface of the massage device 1000. In other words, it may mean that the first leg massage part 1310 and the second leg massage part 1330 that rotate independently rotate to the same position and are arranged side by side in the width direction (refer to Figure 7 ).

[0256] A light emitting sensor 1310a may be provided on a side of the first leg massage part 1310 opposite to the second leg massage part 1330. A light receiving sensor 1330a may be provided on a side of the second leg massage part 1330 opposite to the first leg massage part 1310, and the light receiving sensor 1330a receives a signal sent from the light emitting sensor 1310a. A light emitting sensor may be provided on the second leg massage part 1330, and a light receiving sensor may be provided on the first leg massage part 1310. However, for convenience of description, the following description is made assuming that the light emitting sensor 1310a is provided on the first leg massage part 1310, and the light receiving sensor 1330a is provided on the second leg massage part 1330.

[0257] When the first leg massaging part 1310 and the second leg massaging part 1330 are aligned, in other words, when the first leg massaging part 1310 and the second leg massaging part 1330 are arranged side by side in the width direction, the signal transmitted from the light emitting sensor 1310a may be received by the light receiving sensor 1330a.

[0258] When the light receiving sensor 1330a receives the signal of the light emitting sensor 1310a, the control part 1400 may determine that the first leg massaging part 1310 and the second leg massaging part 1330 are in an aligned state. When the light receiving sensor 1330a does not receive the signal of the light emitting sensor 1310a, the control part 1400 may determine that the first leg massaging part 1310 and the second leg massaging part 1330 are in a crossed state and are not aligned.

[0259] The first leg massage part 1310 and the second leg massage part 1330 may be provided with an encoder. The encoder may measure at least one of a rotation speed (angular velocity) and a rotation amount of the first leg massage part 1310 and the second leg massage part 1330, and may transmit the measured information to the control part 1400.

[0260] The control part 1400 may control the alignment of the first leg massaging part 1310 and the second leg massaging part 1330 based on at least one of a signal received from the light receiving sensor 1330 a and information received from the encoder.

[0261] Fig. 20 This is a flowchart of aligning the leg massage part of a massage device according to an embodiment of the present invention. Fig. 20 , the leg massage part 1300 alignment function of the control part 1400 is described in the case where the first leg massage part 1310 and the second leg massage part 1330 are simultaneously ascended or simultaneously descended. Hereinafter, the ascending of the first leg massage part 1310 or the second leg massage part 1330 may mean that the front end of the first leg massage part 1310 or the second leg massage part 1330 rotates upward to be away from the ground or the installation surface of the massage device 1000. The descending of the first leg massage part 1310 or the second leg massage part 1330 may mean that the front end of the first leg massage part 1310 or the second leg massage part 1330 rotates downward to be close to the ground or the installation surface of the massage device 1000.

[0262] Through the user's operation, the first leg massage part 1310 and the second leg massage part 1330 can be simultaneously raised or lowered. The first leg massage part 1310 and the second leg massage part 1330 can be raised or lowered to a predetermined target coordinate by the control part 1400. The target coordinate may refer to the rotational angular displacement of the first leg massage part 1310 and the second leg massage part 1330.

[0263] When the first leg massaging part 1310 and the second leg massaging part 1330 are simultaneously ascended or simultaneously descended, the control part 1400 may determine whether a signal of the light emitting sensor 1310 a is received / sensed by the light receiving sensor 1330 a .

[0264] (Route 1-1): When the light receiving sensor 1330a receives a signal, the control part 1400 may maintain the rising or falling speed of the first leg massage part 1310 and the second leg massage part 1330. The control part 1400 may continuously / periodically determine whether the signal of the light emitting sensor 1310a is received / sensed by the light receiving sensor 1330a until the first leg massage part 1310 and the second leg massage part 1330 reach the target coordinates. While the light receiving sensor 1330a maintains signal reception, the control part 1400 may maintain the rising or falling speed of the first leg massage part 1310 and the second leg massage part 1330. When the first leg massage part 1310 and the second leg massage part 1330 reach the target coordinates, the control part 1400 may stop the rising or falling action of the first leg massage part 1310 and the second leg massage part 1330.

[0265] (Route 1-2): When the light receiving sensor 1330a does not receive the signal of the light emitting sensor 1310a before the first leg massage part 1310 and the second leg massage part 1330 reach the target coordinates, the control part 1400 may reduce the speed of either the first leg massage part 1310 or the second leg massage part 1330. Thereafter, the control part 1400 may determine whether the interval between the first leg massage part 1310 and the second leg massage part 1330 is reduced. The control part 1400 compares the rotation angles of the first leg massage part 1310 and the second leg massage part 1330 based on the information received from the encoder, and may determine whether the interval between the first leg massage part 1310 and the second leg massage part 1330 is reduced by determining whether the angle between the first leg massage part 1310 and the second leg massage part 1330 (or the difference in encoder values ​​or the encoder interval, etc.) is reduced.

[0266] When the angle decreases, the control part 1400 may determine that the interval between the first leg massage part 1310 and the second leg massage part 1330 decreases, and when the angle increases, the control part 1400 may determine that the interval between the first leg massage part 1310 and the second leg massage part 1330 increases.

[0267] (Route 1-2-1): When the control part 1400 determines that the interval between the first leg massage part 1310 and the second leg massage part 1330 is reduced, the control part 1400 may maintain the speed of the first leg massage part 1310 and the speed of the second leg massage part 1330 until the light receiving sensor 1330a receives a signal. For example, when the speed of the first leg massage part 1310 is reduced, the control part 1400 may maintain the reduced speed of the first leg massage part 1310 and the speed of the second leg massage part 1330 until the light receiving sensor 1330a receives a signal. Conversely, when the speed of the second leg massage part 1330 is reduced, the control part 1400 may maintain the reduced speed of the second leg massage part 1330 and the speed of the first leg massage part 1310 until the light receiving sensor 1330a receives a signal.

[0268] When the light receiving sensor 1330a receives a signal, the control part 1400 may make the speed of the first leg massage part 1310 consistent with the speed of the second leg massage part 1330. For example, the control part 1400 may make the speed of the first leg massage part 1310 consistent with the speed of the second leg massage part 1330, that is, the same preset speed / initial speed, or adjust to the final speed of the second leg massage part 1330 or the final speed of the first leg massage part 1310. In the latter case, in more detail, when the speed of the first leg massage part 1310 is reduced, the control part 1400 may adjust the speed of the second leg massage part 1330 to the reduced speed of the first leg massage part 1310, and when the speed of the second leg massage part 1330 is reduced, the control part 1400 may adjust the speed of the first leg massage part 1310 to the reduced speed of the second leg massage part 1330.

[0269] When the first leg massage part 1310 and the second leg massage part 1330 reach the target coordinates, the control part 1400 may stop the ascending or descending motion of the first leg massage part 1310 and the second leg massage part 1330 .

[0270] (Route 1-2-2): When the control unit 1400 determines that the interval between the first leg massage unit 1310 and the second leg massage unit 1330 is increased, the control unit 1400 may increase the speed of any one of the first leg massage unit 1310 and the second leg massage unit 1330 whose rotation speed is reduced (or return to the speed before deceleration) and reduce the speed of the other leg massage unit. Thereafter, the control unit 1400 may again determine whether the interval between the first leg massage unit 1310 and the second leg massage unit 1330 is reduced. When it is determined that the interval is reduced, the subsequent actions are the same as those of "Route 1-2-1".

[0271] Fig.21FIG. 1 is a flowchart of aligning the leg massage part of a massage device according to another embodiment of the present invention. Fig.21 In the illustrated operation structure, the leg massage part 1300 alignment function of the control part 1400 is described when the first leg massage part 1310 and the second leg massage part 1330 are simultaneously raised or lowered. Fig.21 The action shown is in Fig. 20 In the illustrated operation, an embodiment of adding an alignment operation is performed when either the first leg massage part 1310 or the second leg massage part 1330 reaches the target coordinate first before the first leg massage part 1310 and the second leg massage part 1330 are aligned by the control part 1400 .

[0272] Through the user's operation, the first leg massage part 1310 and the second leg massage part 1330 may rise or fall at the same time. The first leg massage part 1310 and the second leg massage part 1330 may rise or fall to a predetermined target coordinate by the control part 1400. When the first leg massage part 1310 and the second leg massage part 1330 rise or fall at the same time, the control part 1400 may determine whether the signal of the light emitting sensor 1310a is received by the light receiving sensor 1330a.

[0273] (Route 2-1): When the light receiving sensor 1330a receives a signal, the control part 1400 may maintain the rising or falling speed of the first leg massage part 1310 and the second leg massage part 1330. The control part 1400 may continue to judge whether the light receiving sensor 1330a receives the signal of the light emitting sensor 1310a until the first leg massage part 1310 and the second leg massage part 1330 reach the target coordinates. While the light receiving sensor 1330a keeps receiving the signal, the control part 1400 may maintain the rising or falling speed of the first leg massage part 1310 and the second leg massage part 1330. When the first leg massage part 1310 and the second leg massage part 1330 reach the target coordinates, the control part 1400 may stop the rising or falling action of the first leg massage part 1310 and the second leg massage part 1330.

[0274] (Route 2-2): When the light receiving sensor 1330a receives the signal of the light emitting sensor 1310a before the first leg massage part 1310 and the second leg massage part 1330 reach the target coordinates, the control part 1400 may reduce the speed of any one of the first leg massage part 1310 and the second leg massage part 1330. Thereafter, the control part 1400 may determine whether the interval between the first leg massage part 1310 and the second leg massage part 1330 is reduced.

[0275] (Route 2-2-1): When the control part 1400 determines that the interval between the first leg massage part 1310 and the second leg massage part 1330 is reduced, the control part 1400 may maintain the speed of the first leg massage part 1310 and the second leg massage part 1330. Thereafter, the control part 1400 may determine whether any one of the first leg massage part 1310 and the second leg massage part 1330 reaches the target coordinate.

[0276] (Route 2-2-1-1): When the control unit 1400 determines that any one of the first leg massage unit 1310 and the second leg massage unit 1330 has reached the target coordinates, the control unit 1400 may stop the one that has reached the target coordinates and continue to raise or lower the other. Thereafter, the control unit 1400 may raise or lower the other until the light receiving sensor 1330a receives the signal of the light emitting sensor 1310a. When the light receiving sensor 1330a receives the signal of the light emitting sensor 1310a, the control unit 1400 may stop driving the other.

[0277] (Route 2-2-1-2): When the control part 1400 determines that any one of the first leg massage part 1310 and the second leg massage part 1330 has not reached the target coordinates, the control part 1400 may determine whether the light receiving sensor 1330a receives a signal from the light emitting sensor 1310a.

[0278] (Route 2-2-1-2-1): When the light receiving sensor 1330a receives a signal, the control unit 1400 can make the speed of the first leg massage unit 1310 consistent with the speed of the second leg massage unit 1330. For example, the control unit 1400 can make the speeds of the first leg massage unit 1310 and the second leg massage unit 1330 consistent, that is, the same preset speed / initial speed, or adjust them to the final speed of the second leg massage unit 1330 or the final speed of the first leg massage unit 1310. In the latter case, in more detail, when the speed of the first leg massage unit 1310 is reduced, the control unit can adjust the speed of the second leg massage unit 1330 to the reduced speed of the first leg massage unit 1310, and when the speed of the second leg massage unit 1330 is reduced, the control unit 1400 can adjust the speed of the first leg massage unit 1310 to the reduced speed of the second leg massage unit 1330. When the first leg massage part 1310 and the second leg massage part 1330 reach the target coordinates, the control part 1400 may stop the ascending or descending motion of the first leg massage part 1310 and the second leg massage part 1330 .

[0279] (Route 2-2-1-2-2): When the light receiving sensor 1330a does not receive a signal, the control unit 1400 may perform the action of “Route 2-2-1”.

[0280] (Route 2-2-2): When the control unit 1400 determines that the interval between the first leg massage unit 1310 and the second leg massage unit 1330 is increased, the control unit 1400 may increase the speed of any one of the first leg massage unit 1310 and the second leg massage unit 1330 whose rotation speed is reduced and reduce the speed of the other leg massage unit. Thereafter, the control unit 1400 may again determine whether the interval between the first leg massage unit 1310 and the second leg massage unit 1330 is reduced. When it is determined that the interval is reduced, the subsequent actions are the same as those of "Route 2-2-1".

[0281] Despite Fig. 20 and Fig.21 Although not shown in the figure, when the alignment is completed, the control part 1400 may tune the speeds of the two leg massage parts based on the alignment result.

[0282] As an embodiment, the control part 1400 may set / tune the speed of the leg massage part adjusted during the alignment to the basic speed. In more detail, when the speed of the first leg massage part 1310 or the second leg massage part 1330 is reduced / increased from the first speed to the second speed during the alignment, the control part may tune / set the basic speed of the first leg massage part 1310 or the second leg massage part 1330 to the second speed.

[0283] Alternatively, as another embodiment, the control unit 1400 may collect the speed adjustment results of the leg massage unit and tune the speeds of the two leg massage units based on the collected results. In more detail, after the control unit performs n alignment actions on the first leg massage unit 1310 or the second leg massage unit 1330, the n execution results are collected and the average value of the adjustment speed of the first leg massage unit 1310 or the second leg massage unit 1330 is calculated. The control unit 1400 may use the average value of the adjustment speed calculated in this way to tune the basic speed of the first leg massage unit 1310 or the second leg massage unit 1330. The larger the n value, the higher the alignment accuracy, and the smaller the n value, the lower the alignment accuracy.

[0284] When speed tuning / setting is performed, the first leg massage part 1310 and the second leg massage part 1330 perform an action of increasing or decreasing the tuned / set speed to the basic speed in the subsequent massage action. Such a tuning / setting action can be performed multiple times during the massage action, and the speed difference between the first leg massage part 1310 and the second leg massage part 1330 is continuously reduced by continuous tuning / setting.

[0285] Fig. 22 FIG. 1 is a flowchart of aligning the leg massage part of a massage device according to another embodiment of the present invention. Fig. 22, the alignment function of the leg massaging part 1300 of the control part 1400 when the first leg massaging part 1310 and the second leg massaging part 1330 ascend or descend toward the same target coordinate in the crossed state will be described.

[0286] The first leg massage part 1310 and the second leg massage part 1330 may be arranged in a crossed state. The crossed state refers to a state in which the first leg massage part 1310 and the second leg massage part 1330 are arranged in a staggered state in the width direction (for example, a state in which the first leg massage part 1310 rises but the second leg massage part 1330 falls or a state in which the second leg massage part 1330 rises but the first leg massage part 1310 falls), and a signal of the light emitting sensor 1310a is not received by the light receiving sensor 1330a.

[0287] When any one of the first leg massage part 1310 and the second leg massage part 1330 descends toward a target coordinate (for example, the uppermost end, the lowermost end or the center coordinate of the leg massage part 1300), and the other leg massage part ascends toward the same target coordinate, the control part 1400 may stop any one of the first leg massage part 1310 and the second leg massage part 1330 that reaches the target coordinate first.

[0288] Thereafter, the control unit 1400 may raise or lower the other leg massage unit that has not reached the target coordinate until the light receiving sensor 1330a receives the signal of the light emitting sensor 1310a. When the light receiving sensor 1330a receives the signal of the light emitting sensor 1310a, the control unit 1400 may stop driving the other leg massage unit.

[0289] Through this embodiment, the two leg massage parts in a crossed state can be aligned.

[0290] As described above, the control unit 1400 of the massage device 1000 according to the present invention adjusts the alignment state of the first leg massage unit 1310 and the second leg massage unit 1330 through the alignment sensor units 1310a and 1330b when the first leg massage unit 1310 and the second leg massage unit 1330 are driven.

[0291] The above-mentioned technical concept of the present invention is described in conjunction with the accompanying drawings, but this is only an exemplary description of the preferred embodiment of the present invention and does not limit the present invention. In addition, those skilled in the art of the present invention should understand that various modifications and imitations can be made without departing from the technical concept of the present invention.

[0292] In addition, the structure and function of the massage device of this specification can be extended and applied to various (wearable) health care devices that can provide health care functions (e.g., massage function, biosignal measurement function, etc.). Therefore, the "massage device" in this specification can be replaced with "(wearable) health care device" for description.

Claims

1. A massage device, characterized in that: include: The body massage unit includes a massage module for massaging at least a part of a user's body. A shaft is combined at one side of the body massage part, A mobile actuator is capable of moving the massage module up and down, A forward / backward actuator is capable of tilting the massage module in at least one direction, forward or backward. a leg massage part connected to the body massage part through the shaft, and comprising a first leg massage part and a second leg massage part, wherein the first leg massage part massages one leg of the user, and the second leg massage part massages the other leg of the user, an alignment sensor portion for sensing an alignment between the first leg massaging portion and the second leg massaging portion, and a control unit that controls the body massage unit, the leg massage unit, and the alignment sensor unit; The massage device further includes: at least one of a leg length adjustment actuator and a leg angle actuator, wherein the leg length adjustment actuator is used to adjust the length of the leg massage part, and the leg angle actuator is respectively connected to the first leg massage part and the second leg massage part and can rotate the first leg massage part and the second leg massage part separately; The first leg massaging part and the second leg massaging part operate independently of each other.

2. The massage device according to claim 1, characterized in that: The alignment sensor unit comprises: A first alignment sensor portion is provided at the first leg massage portion, and a second alignment sensor portion, disposed on the second leg massage portion; The first alignment sensor portion and the second alignment sensor portion are disposed at positions facing each other.

3. The massage device according to claim 2, characterized in that: The first alignment sensor portion is a light emitting sensor, The second alignment sensor is a light receiving sensor.

4. The massage device according to claim 3, characterized in that: The control unit, When the light receiving sensor receives the signal emitted by the light emitting sensor, it is determined that the first leg massaging part and the second leg massaging part are in an aligned state.

5. The massage device according to claim 3, characterized in that: The control unit, When the light receiving sensor does not receive the signal emitted by the light emitting sensor, it is determined that the first leg massaging part and the second leg massaging part are in a misaligned state.

6. The massage device according to claim 4, characterized in that: The control unit, When the first leg massage part and the second leg massage part rise or fall simultaneously toward the predetermined target coordinate, determining whether the signal of the light emitting sensor is received by the light receiving sensor, When the light receiving sensor receives the signal of the light emitting sensor, it is determined that the first leg massaging part and the second leg massaging part are in an aligned state and the speeds of the first leg massaging part and the second leg massaging part are maintained.

7. The massage device according to claim 5, characterized in that: When the first leg massage part and the second leg massage part rise or fall simultaneously toward the predetermined target coordinate, The control part increases or decreases the speed of any one of the first leg massaging part and the second leg massaging part when the light receiving sensor does not receive the signal of the light emitting sensor.

8. The massage device according to claim 7, characterized in that: The control unit, When the light receiving sensor receives the signal of the light emitting sensor before the first leg massaging part and the second leg massaging part reach the predetermined target coordinates, the speed of the first leg massaging part and the speed of the second leg massaging part are made consistent.

9. The massage device according to claim 7, characterized in that: The control unit, In the case where the speed of any one of the first leg massage part and the second leg massage part is reduced, when it is judged that the interval between the first leg massage part and the second leg massage part is reduced, the speed of the leg massage part whose speed is reduced and the speed of the other leg massage part of the first leg massage part and the second leg massage part are maintained until the light receiving sensor receives the signal of the light emitting sensor.

10. The massage device according to claim 7, characterized in that: The control unit, When the speed of any one of the first leg massage part and the second leg massage part is reduced, if it is determined that the interval between the first leg massage part and the second leg massage part is increased, the speed of the leg massage part with the reduced speed is increased.

11. The massage device according to claim 7, characterized in that: The control unit, In the case where the speed of any one of the first leg massage part and the second leg massage part is increased, when it is judged that the interval between the first leg massage part and the second leg massage part is reduced, the speed of the leg massage part of which the speed is increased and the speed of the other leg massage part of the first leg massage part and the second leg massage part are maintained until the light receiving sensor receives the signal of the light emitting sensor.

12. The massage device according to claim 7, characterized in that: The control unit, When the speed of any one of the first leg massage part and the second leg massage part is increased, if it is determined that the interval between the first leg massage part and the second leg massage part is increased, the speed of the leg massage part with the increased speed is decreased.

13. The massage device according to any one of claims 9 to 12, characterized in that: The first leg massage part is provided with a first encoder, and the first encoder is used to measure the rotation angle of the first leg massage part and send it to the control part. The second leg massage part is provided with a second encoder, and the second encoder is used to measure the rotation angle of the second leg massage part and send it to the control part. The control unit, The rotation angle of the first leg massage part received from the first encoder and the rotation angle of the second leg massage part received from the second encoder are compared to determine an interval between the first leg massage part and the second leg massage part.

14. The massage device according to claim 5, characterized in that: The control unit, When any one of the first leg massage part and the second leg massage part reaches the predetermined target coordinates first, the leg massage part that reaches the predetermined target coordinates first is stopped, and the other leg massage part of the first leg massage part and the second leg massage part is raised or lowered until the light receiving sensor receives the signal of the light emitting sensor.

15. The massage device according to claim 7, characterized in that: The control unit, When increasing or decreasing the speed of the first leg massaging part from a first speed to a second speed, adjusting the basic speed of the first leg massaging part to the second speed, or When the speed of the second leg massaging part is increased or decreased from the first speed to the second speed, the basic speed of the second leg massaging part is adjusted to the second speed.

16. The massage device according to claim 7, characterized in that: The control unit, When the speed of the first leg massage part is increased or decreased for multiple times, an average value of the speed after each increase or decrease is calculated as an adjusted speed average value, and the basic speed of the first leg massage part is tuned to the adjusted speed average value, or When the speed of the second leg massage part is increased or decreased multiple times, an average value of the speeds after each increase or decrease is calculated as an adjusted speed average value, and the basic speed of the second leg massage part is tuned to the adjusted speed average value.

17. The massage device according to claim 1, characterized in that: The first leg massage part is provided with a first encoder, and the first encoder is used to measure at least one of a rotation speed and a rotation amount of the first leg massage part and send the measurement result to the control part. The second leg massage part is provided with a second encoder for measuring at least one of a rotation speed and a rotation amount of the second leg massage part and transmitting the measurement to the control part.

18. The massage device according to claim 17, characterized in that: The control part controls the alignment of the first leg massaging part and the second leg massaging part based on at least one of the rotation speed and the rotation amount of the first leg massaging part received from the first encoder and at least one of the rotation speed and the rotation amount of the second leg massaging part received from the second encoder.

19. The massage device according to claim 17, characterized in that: The control unit, The coordinates of the first leg massage part and the second leg massage part are determined based on at least one of the rotation speed and the rotation amount of the first leg massage part received from the first encoder and at least one of the rotation speed and the rotation amount of the second leg massage part received from the second encoder.

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