Storage type massage device

Abstract

The utility model relates to a storage type massage device, which comprises a supporting module, a storage module, a massage module, a storage module, a massage module, a storage module and a control module, the supporting module can support a part of the body of a user, and an inner space is formed at the lower end of the supporting module; the massage device can be inserted into the inner space or led out of the inner space, and comprises a massage module which reciprocates in the length direction of the massage device; and the cleaning unit is arranged on the massage device and is used for sucking foreign matters. According to the storage type massage device provided by the embodiment of the utility model, the modules which can be independently driven are stored in the inner space of the fixed module, so that the storage type massage device has the effect that the space utilization degree can be improved when the storage type massage device is not used.

Description

Technical Field

[0001] The present utility model relates to a collapsible massage device, and more particularly, to a collapsible massage device in which two or more different modules are arranged in an overlapping state with each other, and at least one of the modules can be independently driven. Background Art

[0002] Currently, various types of beds have been introduced, and various massage beds equipped with massage rollers for performing massage are also being developed. A bed or a massage bed needs to have a space with a specified width capable of accommodating the massage rollers, and if the bed and the massage bed are to be separately arranged, many spatial limitations will be faced.

[0003] In order to overcome such spatial limitations, there has been a need for a functional bed that simultaneously has the basic function of a bed and the function of a massage bed, and some such functional beds have been developed.

[0004] In addition, there is a bed-type furniture composed of a frame in the prior art literature for expanding the upper plate that comes into contact with the user's body, which is for expanding the functions of the bed.

[0005] However, the bed-type furniture currently on sale or under development has the disadvantage of being unable to be independently driven, and there is a problem that only the contact area is simply enlarged but it cannot be independently driven.

[0006] Therefore, there is a need to develop a bed that can provide both the function of a basic household item and the function of an independently configured massage device, and a massage device with high space utilization is required.

[0007] Prior Art Literature

[0008] Patent Literature

[0009] Patent Document 1: Korean Patent Publication No. 10-2015-0124625 Summary of the Utility Model

[0010] Problems to be Solved by the Utility Model

[0011] The present utility model is proposed to solve the above problems, and the object of the present utility model is to provide a collapsible massage device including at least one fixed module as a household item, and a massage device that is placed in the internal space of the fixed module and can be independently driven.

[0012] Moreover, the present utility model aims to provide a collapsible massage device capable of pulling out an independently drivable massage module from the fixed module.

[0013] In addition, the present utility model aims to provide a storage type massage device, which is used to guide the movement relationship between each module when a separately drivable module including a massage module is drawn out from or inserted into a fixed module constituting a piece of furniture.

[0014] The object of the present utility model is not limited to the above object. Other objects not mentioned in the present utility model can be understood through the following description and can be more clearly understood through the embodiments of the present utility model. In addition, the object of the present utility model can be achieved by the units and their combinations indicated in the claims.

[0015] Means for solving the problem

[0016] The storage type massage device for achieving the above object of the present utility model includes the following structures.

[0017] The storage type massage device according to an embodiment of the present utility model includes: a support module capable of supporting a part of a user's body, and an internal space is formed at the lower end of the support module; a massage device capable of being inserted into or drawn out from the internal space of the support module, the massage device including a massage module that reciprocates in the length direction; and a cleaning unit located on the massage device and used for sucking foreign matters.

[0018] In addition, a storage type massage device is provided, wherein a driving unit is arranged on the massage device, and the driving unit is used to insert the massage device into the internal space of the support module or draw the massage device out from the internal space of the support module.

[0019] In addition, a storage type massage device is provided, wherein the driving unit includes: a plurality of wheels installed at the lower end of the massage device; and at least one driving motor for driving the plurality of wheels.

[0020] In addition, a storage type massage device is provided, wherein the at least one driving motor includes a plurality of driving motors installed on any one of a plurality of first wheels and a plurality of second wheels. Based on the direction in which the massage device is drawn out from the internal space, the plurality of first wheels correspond to the front wheels, the plurality of second wheels correspond to the rear wheels, and the rotational speeds of the plurality of driving motors can be controlled to be different from each other.

[0021] In addition, a storage type massage device is provided, which includes: a first frame for supporting the support module; and a second frame for supporting the massage device. The cleaning unit is located on the back of the second frame.

[0022] Further, there is provided a foldable massage device, wherein the cleaning unit is arranged along the length direction and moves between a plurality of wheels of the massage device.

[0023] Further, there is provided a foldable massage device, wherein the cleaning unit is located at the front end of the massage device in the direction leading out from the internal space.

[0024] Further, there is provided a foldable massage device, wherein the cleaning unit includes: a guide rail extending along the length direction of the massage device; one or more roller parts located on the upper surface of the guide rail; a cleaning bracket extending in the height direction from the lower end of the guide rail and fastened to the roller parts; a cleaner body fastened to the cleaning bracket and including an inflow hole; and a driving part passing through the cleaning bracket and applying a driving force to the lower surface of the guide rail.

[0025] Further, there is provided a foldable massage device, wherein the movement of the roller parts and the driving part in the height direction of the guide rail is restricted by the cleaning bracket.

[0026] Further, there is provided a foldable massage device, wherein the guide rail includes a spacer protruding from the upper end in the height direction, and the one or more roller parts are in contact with the upper surface of the guide rail on both sides of the spacer.

[0027] Further, there is provided a foldable massage device, wherein the cleaning unit includes: a storage box for storing foreign matters sucked by the cleaning unit; and an opening formed on one side of the massage device in an open manner for detaching and attaching the storage box. When the driving of the cleaning unit is turned off, the storage box moves to a position corresponding to the opening.

[0028] Further, there is provided a foldable massage device, wherein a wiping unit extending along the length direction is provided on the lower surface of the massage device.

[0029] Further, there is provided a foldable massage device, wherein the wiping unit is located at the rear end in the width direction of the cleaning unit.

[0030] Further, there is provided a foldable massage device, wherein the wiping unit includes: a wiping member facing the floor; a wiping bracket connected to the massage device and used for guiding the movement of the wiping member; and an actuator connected to the wiping member. The wiping member moves in the height direction as the actuator expands and contracts in the length direction.

[0031] Also, a storage type massage device is provided, wherein the wiping unit further includes: a rod fastened to the wiping member; a guiding groove located in the wiping bracket, the rod is inserted into the guiding groove, and the rod moves along the guiding groove as the actuator expands and contracts in the longitudinal direction.

[0032] Utility Model Effects

[0033] The present utility model can obtain the following effects through the combination and usage relationship of the above embodiments and the components to be described below.

[0034] According to the present utility model, a module that can be independently driven is stored in the internal space of a fixed module, thereby having the effect of improving the space utilization rate when the storage type massage device is not in use.

[0035] Also, according to the present utility model, by providing various structures for guiding the movement and insertion of the drivable module, there is an effect of providing a structure that can minimize the interference between the fixed module and the movable module. Brief Description of the Drawings

[0036] Figure 1 FIG. is a view showing a storage type massage device according to an embodiment of the present utility model.

[0037] Figure 2 FIG. is a view showing a massage device including a driving unit according to an embodiment of the present utility model.

[0038] Figure 3 FIG. shows Figure 2 the driving unit in

[0039] Figure 4 FIG. is a view showing a first frame constituting a support module according to an embodiment of the present utility model.

[0040] Figure 5 FIG. is a view showing a first frame and a second frame according to an embodiment of the present utility model.

[0041] Figure 6 FIG. is a view showing a guiding portion and a blocking portion according to an embodiment of the present utility model.

[0042] Figures 7 to 8 FIG. is a view showing a guiding portion fastened to a track according to an embodiment of the present utility model.

[0043] Figure 9 FIG. is a view showing a guiding portion inserted inside a track according to an embodiment of the present utility model.

[0044] Figure 10 FIG. is a view showing an anti - detachment plate rotated to a position where interference occurs on the track path according to an embodiment of the present utility model.

[0045] Figure 11 It is a diagram showing the anti-disengagement plate rotated to a position where there is no interference on the on-rail path according to an embodiment of the present invention.

[0046] Figure 12 It is a diagram showing a massage device including a cleaning unit according to an embodiment of the present invention.

[0047] Figure 13 It is a diagram showing the side of a massage device including a cleaning unit according to an embodiment of the present invention.

[0048] Figure 14 It is a diagram showing the cleaning unit fastened to the second frame according to an embodiment of the present invention.

[0049] Figure 15 It is a diagram showing the configuration of the cleaning unit according to an embodiment of the present invention.

[0050] Figure 16 It is a diagram showing the configuration of the cleaning unit fastened to the guide rail according to an embodiment of the present invention.

[0051] Figure 17 It is a diagram showing the back of the cleaning unit according to an embodiment of the present invention.

[0052] Figure 18 It is a diagram showing the dust movement path of the cleaning unit according to an embodiment of the present invention.

[0053] Figures 19 to 20 It is a diagram showing the configuration of the opening and storage box of the cleaning unit according to an embodiment of the present invention.

[0054] Figures 21 to 23 It is a diagram showing the configuration for changing the height of the wiping unit according to an embodiment of the present invention.

[0055] Figure 24 It is a diagram showing the configuration of a drive unit including a drive shaft according to another embodiment of the present invention.

[0056] Figures 25 to 27 It is a diagram showing the sensor for measuring the movement in the longitudinal direction of the massage device according to an embodiment of the present invention.

[0057] Figures 28 to 30 It is a diagram showing the track located in the support module and used to guide the movement of the massage device according to another embodiment of the present invention.

[0058] Figure 31 It is a diagram showing the configuration of the track according to another embodiment of the present invention.

[0059] Figure 32 It is a diagram showing a cover configured to wrap the open end of a track according to another embodiment of the present invention.

[0060] Figures 33 to 35 It is a diagram showing the coupling relationship between the components of an alignment unit according to an embodiment of the present invention.

[0061] Figures 36 to 39 It is a diagram showing the positional relationship of a sensor unit according to an embodiment of the present invention.

[0062] Figures 40 to 44 It is a diagram showing the driving relationship of a cover unit according to an embodiment of the present invention.

[0063] Description of Reference Numerals

[0064] 100: Support module

[0065] 101: Upper end

[0066] 102: Lower end

[0067] 110: First frame

[0068] 111: Magnet member

[0069] 120: Guide part

[0070] 200: Massage device

[0071] 210: Second frame

[0072] 220: Driving unit

[0073] 221: Wheel

[0074] 222: Driving motor

[0075] 230: Track

[0076] 231: Blocking part

[0077] 232: Anti-disengagement plate

[0078] 233: Motor

[0079] 240: Sensing unit

[0080] 300: Massage module

[0081] 400: Cleaning unit

[0082] 410: Guide rail

[0083] 420: Roller part

[0084] 430: Cleaning bracket

[0085] 440: Cleaner main body

[0086] 450: Driving part

[0087] 460: Storage box

[0088] 470: Opening part

[0089] 500: Wiping unit

[0090] 510: Wiping member

[0091] 520: Wiping bracket

[0092] 521: Guide groove

[0093] 530: Actuator

[0094] 600: Alignment unit

[0095] 610: Cover part

[0096] 620: Guide motor

[0097] 630: Sensor part

[0098] 631: Pressure sensor

[0099] 632: Contact sensor

[0100] 700: Position sensor unit

[0101] 710: First sensor

[0102] 720: Second sensor

[0103] 730: Third sensor

[0104] 1000: Roller

[0105] 1100: Track

[0106] 1200: Cover Detailed implementation manners

[0107] Advantages, features and methods for realizing them of the present utility model will become clear by referring to the embodiments described in detail below in conjunction with the accompanying drawings. However, the present utility model is not limited to the embodiments disclosed below and can be implemented in various different forms. The embodiments are provided only to ensure that the disclosure of the present utility model is complete and fully inform those skilled in the art of the scope of the present utility model, and the present utility model is only defined by the scope of the claims. Throughout the specification, the same reference numerals denote the same components.

[0108] The terms such as "... part", "... unit", and "... module" described in the specification refer to units that process at least one function or action, and can be implemented as hardware, software, or a combination of hardware and software.

[0109] Moreover, in this specification, differentiating the names of structures into "first", "second", etc. is for differentiating structures with the same name, and is not necessarily limited to their order in the following description.

[0110] Moreover, in this specification, it is referred to as having a height direction, a width direction, and a length direction based on the support module, which are disclosed based on the directions set in the Figure 1 specification, but these are for explaining the directions in which each component moves, and are not limited to the described directions.

[0111] The detailed description is an illustrative example of the present invention. Moreover, the above content represents and illustrates the preferred embodiments of the present invention, and the present invention can be used in a variety of different combinations, changes, and environments. That is, within the scope of the concept of the invention disclosed in this specification, the scope equivalent to the above disclosure and / or within the scope of the technology or knowledge in the field can be changed or modified. The above embodiments illustrate the best state of the present invention for implementing the technical idea of the present invention, and various changes required in the specific application fields and uses of the present invention are also possible. Therefore, the above detailed description of the present invention is not intended to limit the present invention to the disclosed embodiments. In addition, the appended claims should also be interpreted as covering other embodiments.

[0112] Figure 1 is a diagram showing a foldable massage device according to an embodiment of the present invention.

[0113] Referring to Figure 1 , the foldable massage device may include a support module 100 and a massage device 200. The support module 100 is a concept including components capable of supporting a part of the user's body. In one embodiment of the present invention, it includes an internal space A in the form of furniture having a predetermined space, such as a bed, a sofa, or a table. The massage device 200 refers to a component that can be placed at a position overlapping the support module 100 in space, and may include a furniture component having the same form as the support module 100 or a component separated from the support module 100.

[0114] As an example, the support module 100 can be configured as a bed, and the massage device 200 can be configured as a sub-bed that can be inserted into or withdrawn from the internal space A located below the first module. Further, the support module 100 can be configured as a sofa, and the massage device 200 can be formed of a cushion that is placed in the lower end space of the support module 100 and can be unfolded. Thus, the support module 100 is configured to include the internal space A where the massage device 200 can be placed, and the massage device 200 can be selectively inserted into or withdrawn from the internal space A.

[0115] The support module 100 can have an internal space A into which the massage device 200 can be inserted. When the massage device 200 is fully inserted into the internal space A, the massage device 200 may not protrude outside the support module 100. As an embodiment of the present invention, the size of the support module 100 is configured to be larger than the size of the massage device 200. More preferably, the internal space A can be configured as a space into which the massage device 200 can be inserted.

[0116] The massage device 200 can be inserted into or withdrawn from the internal space A of the support module 100. The massage device 200 can include a massage module 300 for massaging a user. At least a part of the massage module 300 can be provided to protrude from the upper surface of the massage device 200. In addition, the massage module 300 can be selectively applied from a sitting-type or bed-type massage module 300.

[0117] The sitting-type massage module 300 refers to a form in which it rises in the height direction such that one end of the upper surface of the massage device 200 has a predetermined angle, and the massage module 300 is driven in a state where a user is seated on the massage device 200. For the bed-type massage module 300, when a user lies on the upper surface of the massage device 200, the massage module 300 moves while being in contact with the user's body and performs acupressure on the user's body, thereby providing acupressure massage.

[0118] As an embodiment of the present invention, the massage device 200 includes a bed-type massage module 300, and the massage module 300 can reciprocate in the longitudinal direction on the upper surface of the massage device 200.

[0119] In addition, the massage module 300 is located on the upper surface of the massage device 200, and the massage module 300 includes a massage ceramic 310 that directly or indirectly contacts the user's body and a recess formed in the recess space B of the massage device 200. The massage ceramic 310 can reciprocate in the length direction along the recess formed in the recess space B of the massage device 200. And, the massage ceramic 310 includes a height adjustment part, whereby it can selectively move in the height direction on the upper surface of the massage device 200. Therefore, the massage ceramic 310 protrudes a predetermined height from the upper surface of the massage device 200 in response to a user's massage request, and the massage device 200 can be controlled to be parallel to the upper surface of the massage device 200 in the closed state, or placed at a position lower than the upper surface of the massage device 200.

[0120] And, the massage ceramic 310 and the height adjustment part of the massage module 300 can move in the length direction of the massage device 200 along the grooves formed at both ends of the recess space B, and at the same time, the height of the massage ceramic 310 can be changed.

[0121] As an embodiment of the present utility model, the height adjustment part can be constituted by an actuator, and the actuator is fastened to the massage ceramic 310. Therefore, the actuator can drive the massage ceramic 310 in such a way that it selectively protrudes from the upper surface of the massage device 200 in response to the driving conditions of the massage device 200 or the body shape of the user located on the massage device 200. More preferably, the massage ceramic 310 can reciprocate in the length direction of the recess space B on the upper surface of the massage device 200, and the massage ceramic 310 is fastened to the actuator and placed inside the recess space B.

[0122] In an embodiment of the present utility model, the massage module 300 is located on the bed-type massage device 200, and the massage module 300 can be set to be driven in a state where the massage device 200 is pulled out from the inner space A of the support module 100.

[0123] In addition, the massage module 300 can be driven according to the user's request. More preferably, the massage module 300 can include a position sensor unit 700, and the position sensor unit 700 can judge the position of the massage device 200 in the inner space A when the massage device 200 moves in the width direction. The position sensor unit 700 can include at least one sensor provided on the massage device 200, and can include more than one sensor corresponding to the sensor of the massage device 200 in the inner space A. Therefore, it can be judged at which position in the inner space A the massage device 200 is located. In addition, when the position sensor unit 700 judges that the massage device 200 completely protrudes or is pulled out to the outside of the inner space A, the control unit can execute the drive of the massage module 300.

[0124] The support module 100 can be configured to have relatively longer lengths in the length direction and the width direction compared to the massage device 200, and the internal space A formed within the support module 100 can be prevented from being exposed through the rear surface of the massage device 200. More preferably, the frame formed on the rear surface of the massage device 200 can be configured to extend along the length direction and the height direction of the massage device 200, whereby the internal space A is not exposed.

[0125] The support module 100 of the present utility model includes a first frame 110 for supporting a mat located at the upper end of the support module 100. The first frame 110 is formed in a state where one surface in its width direction is open, whereby an internal space A capable of inserting the massage device 200 is formed inside the first frame 110. That is, the first frame 110 includes an upper end 101 and a lower end 102, and is formed in a state where one surface in its width direction is open, and the second frame 210 of the massage device 200 can move along the open one surface of the first frame 110.

[0126] The massage device 200 includes a second frame 210 for supporting the massage device 200, and is configured to have a height, length, and width that are relatively smaller than the internal space A of the support module 100. In addition, a rear surface can be formed on the second frame 210 so that the open one surface of the first frame 110 is not exposed to the outside when the second frame 210 is inserted into the internal space A.

[0127] In an embodiment of the present utility model, the massage device 200 is configured to be movable in the width direction of the support module 100 in the overlapping area with the support module 100, and the massage device 200 includes a driving unit 220 that drives the massage device 200 to be independently movable when the massage device 200 is completely drawn out from the support module 100. More preferably, the driving unit 220 can linearly move the massage device 200. In addition, the driving unit 220 can be configured to include two or more driving motors 222 to enable the massage device 200 to perform rotational movement.

[0128] The position sensor unit 700 can include a first sensor 710 located on one surface of the massage device 200 inserted inside the internal space A, and one or more sensors (a second sensor 720 and a third sensor 730) can be provided inside the first frame 110 and are located on the movement path of the first sensor 710.

[0129] In an embodiment of the present utility model, it includes: a third sensor 730 at a position corresponding to a first sensor 710 of a massage device 200 inserted inside an internal space A; and a second sensor 720 located at an open end of the internal space A and disposed on a moving path of the first sensor 710.

[0130] Therefore, when the massage device 200 is inserted inside the internal space A and then withdrawn from the internal space A, the first sensor 710 linearly moves in the width direction of the internal space A as the massage device 200 moves, whereby the first sensor 710 moves in a direction that sequentially contacts the third sensor 730 and the second sensor 720. That is, when the first sensor 710 sequentially contacts the third sensor 730 and the second sensor 720, the control unit determines that the massage device 200 has moved and is withdrawn from the inside of the internal space A.

[0131] On the contrary, when the first sensor 710 sequentially contacts the second sensor 720 and the third sensor 730, the control unit may determine that the massage device 200 has moved and been inserted inside the internal space A.

[0132] Figure 2 Shown is a drive unit 220 of the massage device 200 as an embodiment of the present utility model. Figure 3 It is an enlarged view showing the drive unit 220.

[0133] The drive unit 220 provided in the massage device 200 includes: a plurality of wheels 221 (i.e., front wheels or rear wheels) located at the front end or the rear end in the moving direction of the massage device 200. One or more of the plurality of wheels 221 are fastened to a drive motor 222, and the massage device 200 can perform linear movement and rotational movement according to the rotational force applied by the drive motor 222.

[0134] In addition, the drive motor 222 provided in the massage device 200 can apply a driving force to the plurality of wheels 221 at the front end in the direction in which the massage device 200 is withdrawn from the internal space A, or apply a driving force to the plurality of wheels 221 at the rear end in the direction in which the massage device 200 is withdrawn from the internal space A. The control unit can control the driving of the drive motor 222 in response to a user's request or a setting of the moving direction.

[0135] According to an embodiment of the present utility model, the drive motor 222 is fastened to each of the two front wheels 221 and transmits the driving force of the massage device 200. Therefore, when the massage device 200 is drawn out from the internal space A of the support module 100, the two drive motors 222 fastened to the front wheels are driven simultaneously. And, in order to perform rotational movement according to a user request in a state where the massage device 200 is completely drawn out from the support module 100, only one drive motor 222 is driven, or two or more drive motors 222 are driven to have different rotational amounts from each other.

[0136] That is, the drive motor 222 of the drive unit 220 can apply a driving force to the wheel 221 according to the moving direction of the massage device 200. In another embodiment of the present utility model, the massage device 200 performs linear movement and rotational movement through the drive motor 222 fastened to a plurality of wheels 221 located at the rear end.

[0137] In an embodiment of the present utility model that drives the wheel 221 located at the rear end, compared with the front-wheel drive method, the massage device 200 can be controlled to have a relatively smaller rotation radius.

[0138] As Figure 3 shown, the drive motor 222 is fastened to the wheel 221. In addition, the drive motor 222 includes: a drive gear 222a located on the central axis of the drive motor 222; a transmission gear 221a fastened to the drive gear; and a wheel 221 that is coaxially fastened to the transmission gear 221a and is located on a bracket at the lower end of the second frame 210. In addition, the outer diameters of the drive gear 222a and the transmission gear 221a can be changed according to the speed of the drive motor 222 and the applied torque.

[0139] In an embodiment of the present utility model, the drive gear 222a is configured to have a relatively smaller outer diameter than the transmission gear 221a, and the rotational speed of the wheel 221 is smaller than the rotational speed applied from the drive motor 222, and a torque relatively larger than the torque of the central axis of the drive motor 222 is configured to be transmitted to the wheel 221.

[0140] Figure 4 is a configuration diagram showing the support module 100 according to an embodiment of the present utility model.

[0141] The support module 100 is configured as a bed or furniture, and an internal space A is formed at the lower end of the first frame 110. In addition, as an embodiment of the present utility model, the support module 100 is configured as a bed-type furniture, and the first frame 110 includes a cushion located on the upper surface of the first frame 110 based on the upper end 101 and the lower end 102. The first frame 110 is formed in a shape where one end of its side is open, whereby an open internal space A is formed on the lower surface of the first frame 110. The massage device 200 is selectively inserted into the internal space A from one open surface of the first frame 110, or selectively drawn out from the internal space A.

[0142] At the upper end and the lower end in the length direction of the internal space A of the first frame 110 into which the massage device 200 is inserted, guide portions 120 for guiding the movement of the massage device 200 in the width direction are provided. The guide portions 120 are rotatably fastened to the first frame 110 and are provided at positions corresponding to at least one rail 230 at the upper end and the lower end on the back surface of the massage device 200. "Fastening" may refer to the connection or combination between two components.

[0143] As shown in the figure, guide portions 120 are respectively provided at the upper end and the lower end of the first frame 110. The central axis of the guide portion 120 is located on the frame extending along the back surface of the first frame 110, and one or more guide portions 120 may be provided corresponding to the movement of the massage device 200 in the width direction.

[0144] When the massage device 200 is introduced into the internal space A at the lower end of the first frame 110, the rails 230 at the upper end and the lower end on the back surface of the second frame 210 are inserted along the direction facing the guide portion 120 of the first frame 110, whereby the guide portion 120 can move along the rail 230.

[0145] As Figure 5 shown, at the time point when the massage device 200 is inserted into the internal space A, the rail 230 moves to a position opposite to the guide portion 120.

[0146] In addition, a blocking portion 231 at the end of the rail 230 contacts the guide portion 120 and is rotationally opened, whereby the rail 230 linearly moves along the guide portion 120 into the internal space A. The blocking portion 231 may be configured to contact the guide portion 120 and rotate along the moving direction of the guide portion 120 with respect to the second frame 210 to which the blocking portion 231 is fastened, thereby opening the rail 230.

[0147] In Figure 6 is shown the configuration of the guide portion 120 adjacent to the end of the rail 230 and the blocking portion 231 at the open end of the rail 230. InFigure 7 The configuration in which the blocking part 231 rotates and opens is shown. And, in Figure 8 the positional relationship in which the guiding part 120, the blocking part 231, and the track 230 are adjacent to each other is shown.

[0148] The guiding parts 120 at the upper and lower ends in the longitudinal direction on the back surface of the first frame 110 are arranged to face the tracks 230 at the upper and lower ends on the back surface of the second frame 210. In addition, a blocking part 231 is included at the open end of the track 230, and the track 230 contacts the guiding part 120 when the massage device 200 moves into the internal space A.

[0149] The blocking part 231 is located at the open end of the track 230 and rotates in two directions with reference to the upper end of the second frame 210, thereby selectively opening and closing the open end of the track 230. In addition, the blocking part 231 is located at the end of the track 230 and includes a structure of a double hinge 231a that can rotate in two directions and is open. Therefore, when the guiding part 120 moves from the outside of the track 230 to the inside of the track 230, the blocking part 231 interferes with the guiding part 120 and thus rotates upward along the inside direction of the track 230.

[0150] As Figures 7 to 8 shown, the blocking part 231 contacts the guiding part 120, and thus when the massage device 200 moves, the blocking part 231 that interferes with the guiding part 120 is opened, and the guiding part 120 rotates and moves along the inside of the track 230.

[0151] The guiding part 120 can be configured in a roller form that can rotate along the central axis fastened to the first frame 110, and at least one guiding part 120 can be provided along the width direction at the upper end 101 and the lower end 102 of the first frame 110.

[0152] And, as Figures 9 to 10 shown, the anti - detachment plate 232 is configured such that one end thereof is fastened to the track 230 and can rotate, and in a state where the guiding part 120 is inserted into the inside of the track 230, the anti - detachment plate 232 rotates and moves to a position where it selectively interferes with the movement path of the guiding part 120 inside the track 230.

[0153] As Figure 9 shown, when the massage device 200 moves into the internal space A in the width direction, the guiding part 120 passes through the blocking part 231 and is located inside the track 230.

[0154] Thereafter, the guiding part 120 moves to a predetermined position inside the track 230 as the massage device 200 moves. At this time, one end of the anti-disengagement plate 232 away from its central axis rotates in a direction away from the inner side of the track 230.

[0155] In addition, as Figures 10 to 11 shown, a configuration is shown in which the anti-disengagement plate 232 is selectively located on the movement path of the track 230. Among them, Figure 10 it shows the state in which the anti-disengagement plate 232 moves to a position for preventing the guiding part 120 from disengaging in a state where the guiding part 120 is inserted inside the track 230, Figure 11 it shows the anti-disengagement plate 232 at the time point when the guiding part 120 inserted inside the track 230 disengages from the track 230.

[0156] Among them, on the condition that the first sensor 710 located on the second frame 210 contacts the third sensor 730 at one end inside the support module 100, the motor 233 of the anti-disengagement plate 232 is driven, and the anti-disengagement plate 232 rotates to a position where it interferes with the movement path of the guiding part 120.

[0157] Specifically, as Figure 9 shown, when the massage device 200 is inserted into the internal space A of the first frame 110, the first sensor 710 contacts the second sensor 720, and when the contact between the sensors occurs, the control unit drives the motor 233 at one end of the anti-disengagement plate 232. Therefore, the anti-disengagement plate 232 rotates and moves from a position where it interferes with the movement path of the guiding part 120 to the outside of the movement path of the track 230.

[0158] Thereafter, as Figure 10 shown, when the first sensor 710 contacts the third sensor 730 for identifying the state where the massage device 200 is completely inserted into the internal space A, the control unit drives the motor 233 at one end of the anti-disengagement plate 232, whereby one end of the anti-disengagement plate 232 rotates and moves to a position where it interferes with the movement path of the guiding part 120.

[0159] That is, as Figure 9 shown, when the massage device 200 is inserted into the internal space A of the first frame 110, the anti-disengagement plate 232 rotates to a position where it does not interfere with the movement path inside the track 230 of the guiding part 120, and as Figure 10 shown, when the state where the guiding part 120 is inserted into the inside of the track 230 is recognized, the control unit controls the motor 233 so that one end of the anti-disengagement plate 232 rotates, thereby preventing the guiding part 120 from disengaging from the track 230.

[0160] On the contrary, as Figure 11As shown, when the first sensor 710 releases the state of being fastened to the third sensor 730, a signal for recognizing that the massage device 200 performs a movement in the width direction is detected, and the anti-separation plate 232 can be controlled to rotate outwardly from the rail 230, so that the guiding part 120 can be drawn out from the rail 230. Moreover, the case where the massage device 200 is drawn out in the width direction from the internal space A is the case where the first sensor 710 releases the state of being fastened to the third sensor 730.

[0161] As described above, the second sensor 720 and the third sensor 730 of the support module 100 receive the positional relationship and movement state of the massage device 200, and based on this, the position of the anti-separation plate 232 is controlled.

[0162] Figures 12 to 15 The cleaning unit 400 included in the massage device 200 of the present utility model is shown.

[0163] The cleaning unit 400 is located adjacent to the lower end of one open outer surface of the massage device 200. The cleaning unit 400 includes a guide rail 410 fixed to the second frame 210 and a roller part 420 moving along the upper surface of the guide rail 410, so that the cleaning unit 400 can reciprocate along the length direction of the massage device 200. The roller part 420 is fastened to a driving part 450 located at the lower end of the guide rail 410 and for providing driving force through a cleaning bracket 430, and when the rotational force of the driving part 450 is applied to the back surface of the guide rail 410, the roller part 420, the cleaning bracket 430, and the driving part 450 move integrally along the guide rail 410 in the length direction together with the cleaner main body 440. Therefore, the roller part 420 and the driving part 450 are respectively located at the upper end and the lower end of the guide rail 410, and the cleaning unit 400 is arranged to be constrained in the height direction of the guide rail 410. More preferably, the driving part 450 includes: a driving motor that rotates with the application of power; and a rotating member 452 located on the central axis of the driving motor and in contact with the back surface of the guide rail 410 through an opening of the bracket 430. Therefore, the rotating member 452 rotates in a state of being in contact with the back surface of the guide rail 410, whereby the cleaner main body 440 fastened to the cleaning bracket 430 and the roller part 420 are formed integrally and move along the guide rail 410.

[0164] The cleaner main body 440 includes an inflow hole, and includes a blower configured to suck foreign matters on the floor into the inflow hole. And the cleaner main body 440 may include a brush 451 that is located at the inflow hole of the cleaner main body 440 facing the floor and rotates in at least one direction.

[0165] Therefore, foreign matter flowing into the inflow hole via the brush 451 is moved to the hose or conduit by the air pressure of the blower and collected in the storage box 460 located on the upper surface of the cleaner body 440.

[0166] As Figures 15 to 16 shown, in an embodiment of the present utility model, the guide rail 410 is formed in a "⊥" shape, and one or more roller portions 420 are provided on the upper surfaces of the left and right sides of the partition protruding from the upper end of the guide rail 410. In addition, the roller portion 420 is fastened to the cleaning bracket 430, an opening is provided on the lower surface of the cleaning bracket 430, and the rotating member 452 extending from the cleaner body 440 of the driving portion 450 contacts the lower surface of the guide rail 410.

[0167] Therefore, the roller portion 420 located on the upper surface of the guide rail 410 and the rotating member 452 of the driving portion 450 contact the upper and lower surfaces of the guide rail 410 through the cleaning bracket 430, and the rotating member 452 of the driving portion 450 and the roller portion 420 can maintain a state of constraining the upper and lower surfaces of the guide rail 410.

[0168] The massage device 200 including the cleaning unit 400 of the present utility model includes a sensing unit 240. As an example, the sensing unit 240 is provided on one surface of the massage device 200 where the cleaning unit 400 is provided, and the sensing unit 240 may include a camera for acquiring surrounding images. The camera may include a lens and an image sensor. And, the camera converts the image around the cleaner body 440 into an electrical signal that can be processed by the control unit. For example, the electrical signal corresponding to the upper image may be transmitted to the control unit. The electrical signal corresponding to the upper image may be used in the process of the control unit detecting the position of the cleaner body 440.

[0169] And, the sensing unit 240 can detect obstacles such as walls, furniture, and steps in the height direction on the traveling surface or traveling path of the massage device 200. And, the sensing unit 240 can detect the internal space A located inside the support module 100.

[0170] And, the sensing unit 240 can map the traveling area or cleaning area of the massage device 200 by detecting ceiling or floor information on the moving path.

[0171] In addition, the sensing unit 240 may include a terrain sensor, and the terrain sensor can determine whether an external force is applied to one end of the massage device 200 led out from the internal space A. The terrain sensor includes all sensors that can detect external obstacles or be energized through contact to identify obstacles, for example, a piezoelectric sensor or a camera lens.

[0172] Figures 17 to 20 Shows the structure of the cleaner body 440 disposed adjacent to the floor surface and the coupling relationship of the storage box 460 for storing foreign matters flowing into the suction holes of the cleaner body 440.

[0173] The cleaner body 440 includes an inflow hole facing the floor, and foreign matters flowing in through the inflow hole flow into the storage box 460 formed at a position adjacent to the guide rail 410. The storage box 460 is located at a position corresponding to the opening 470 formed on the outer surface of the massage device 200 in a selectively openable manner when the cleaning unit 400 is in the closed state.

[0174] Therefore, even when the massage device 200 is inserted into the internal space A or pulled out to the outside of the internal space A, when the cleaning unit 400 is switched to the closed state, the storage box 460 can be detached from or attached to the cleaner body 440 by opening the opening 470.

[0175] The upper end of the opening 470 is hinge-coupled to one surface of the massage module 300, and the lower end of the opening 470 can be rotated upward with the upper end of the hinge-coupling as a reference and opened. In addition, the storage box 460 moved to the position of the opening 470 may include a handle, whereby the user can apply tension in the direction in which the storage box 460 is pulled out from the cleaner body 440.

[0176] In this way, the cleaning unit 400 of the present utility model is fastened to the lower end of the front surface in the moving direction of the massage device 200 with the second frame 210, and the storage box 460 is set to move to a position corresponding to the opening 470, so that the storage box 460 is easily separated from the cleaner body 440 when the cleaning unit 400 is closed.

[0177] Figures 21 to 23 Shows the structure and drive diagram of the wiping unit 500 disposed adjacent to the cleaning unit 400.

[0178] In Figure 21 , the wiping unit 500 is fastened to the second frame 210 inside the cleaning unit 400. The wiping unit 500 is disposed at a predetermined distance from one end of the massage device 200 where the cleaning unit 400 is provided. More preferably, the wiping unit 500 is located at the rear end of the cleaning unit 400 and moves in the height direction as the actuator 530 is driven.

[0179] As shown in the figure, the wiping unit 500 includes: a wiping member 510 facing the floor; a wiping bracket 520 for the wiping member 510 to move; and a length-variable actuator 530, which is fastened to the wiping member 510 and moves the wiping member 510 along a guiding groove 521 formed in the wiping bracket 520.

[0180] The wiping bracket 520 includes the guiding groove 521, and a rod 510a of the wiping member 510 is inserted into the guiding groove 521. The guiding groove 521 is formed in an oblique direction such that the rod 510a moves downward in the height direction as the length of the actuator 530 increases. Therefore, when the actuator 530 extends in the length direction, the rod 510a fastened to the wiping member 510 moves to the end at the lower end of the guiding groove 521, and the wiping member 510 moves downward in the height direction. More preferably, the angle of the guiding groove 521 can be set such that when the wiping member 510 moves to the end at the lower end of the guiding groove 521, the wiping member 510 is in close contact with the floor.

[0181] As Figure 22 shown, the rear end of the actuator 530 is fastened to the second frame 210 in a manner that can rotate in the up-and-down direction. In addition, in the state where the actuator 530 is deployed, the rod 510a fastened to the wiping member 510 moves to the end at the lower end of the guiding groove 521, such that the wiping member 510 is at the lowest point.

[0182] In addition, the wiping member 510 is disposed at the rear end of the cleaning unit 400, and the cleaning unit 400 is located on one surface led out from the internal space A of the massage device 200. This can define the positional relationship such that the wiping member 510 can contact the floor in a state where foreign matters are removed by the cleaning unit 400.

[0183] As Figure 23 shown, the actuator 530 contracts, such that the wiping member 510 moves upward in the height direction, and the wiping member 510 fastened to the front end of the actuator 530 moves to the inner end along the guiding groove 521 of the wiping bracket 520. In this case, the rod 510a of the wiping member 510 moves to the inner end of the guiding groove 521, and the wiping member 510 is integrally located at the upper end in the height direction, thereby returning to a position separated from the floor. In addition, the other end of the actuator 530 fastened to the wiping member 510 can rotate with reference to the end of the actuator 530 fastened to the second frame 210. Therefore, the wiping member 510 rotates integrally with the other end of the actuator 530 in the height direction.

[0184] When the wiping member 510 is separated from the floor, it may include a case where the wiping unit 500 is located in front of (the front end) the cleaning unit 400 on the moving path of the massage device 200. Therefore, considering the moving path of the massage device 200, the actuator 530 moves in the contraction direction so that the wiping unit 500 is held in the second frame 210. More preferably, in an embodiment of the present invention, on the condition that the wiping unit 500 located at the rear end of the cleaning unit 400 moves in the direction of the front end of the massage device 200, the actuator 530 contracts, so that the wiping member 510 can be separated from the floor.

[0185] Figure 24 The driving unit according to another embodiment of the present invention is shown.

[0186] As shown in the figure, a plurality of wheels 221 are provided at positions facing the floor at the lower end of the second frame 210 of the massage device 200. And at least one wheel 221 can be fastened to the driving motor 222 and receive driving force.

[0187] In an embodiment, a pair of wheels 221 corresponding to each other in the width direction of the second frame 210 are located at both ends of a driving shaft 221a, and the gear located on the driving shaft 221a and the driving motor 222 apply driving force to the driving shaft 221a. That is, it includes the driving shaft 221a of the front wheel or / and the rear wheel of the massage device 200, and includes at least one driving motor 222 fastened to the driving shaft 221a. Therefore, the plurality of wheels 221 located on the driving shaft 221a can rotate by the driving force of the driving motor 222.

[0188] In this case, through a pair of wheels 221 that rotate with the driving shaft 221a, front-wheel drive in the direction in which the massage device 200 is drawn out from the internal space A can be performed, or rear-wheel drive in the direction in which the massage device 200 is drawn out from the internal space A can be selectively performed.

[0189] In addition, when driving force is applied to a pair of wheels 221 through the driving shaft 221a, the massage device 200 can perform linear movement. And each wheel 221 located at both ends of the driving shaft 221a can include a differential gear, whereby the rotation amount is controlled. Accordingly, the massage device 200 can pivot.

[0190] Figures 25 to 27 A plurality of sensors for measuring the movement of the massage device 200 in the longitudinal direction are shown in the embodiment of the present invention.

[0191] The massage device 200 disposed in the inner space A of the support module 100 includes a plurality of sensors for measuring the movement in the longitudinal direction between the massage device 200 and the support module 100. Preferably, the massage device 200 includes a first sensor 710 disposed on the massage device 200, and a plurality of sensors disposed on the first frame 110 facing the movement path of the first sensor 710. As an example, it may include: a second sensor 720 facing the first sensor 710 when the massage device 200 is converted from a state overlapping with the first frame 110 to a state of protruding to the maximum extent; and a third sensor 730 located at a position corresponding to the first sensor 710 in a state where the massage device 200 is completely inserted inside the inner space A. That is, the second sensor 720 and the third sensor 730 are located on the first frame 110 and are sequentially arranged at positions facing the movement path of the first sensor 710.

[0192] As Figure 27 shown, the second sensor 720 and the third sensor 730 are configured to face the first sensor 710 located on the massage device 200, and when the first sensor 710 moves at a predetermined distance away from the second sensor 720 and the third sensor 730, it will interfere with the measurement areas of the second sensor 720 or the third sensor 730. Accordingly, the control unit can identify the position of the first sensor 710 based on the changes in the signals of the second sensor 720 and the third sensor 730. That is, the control unit can identify the movement of the first sensor 710 based on the signals of the second sensor 720 and the third sensor 730 located on the first frame 110, and accordingly, the movement amount of the massage device 200 in the width direction within the inner space A can be measured.

[0193] As another embodiment, the second sensor 720 and the third sensor 730 in contact with the first sensor 710 may be composed of a magnetic sensor, a capacitive touch sensor, a contact detection sensor, etc. In addition, at least one of the first sensor 710 or the sensors located in the first frame 110 may be composed of a conductive sensor, and the other sensor may be composed of a conductor capable of being electrically connected to the conductive sensor.

[0194] As Figures 25 to 26 shown, the first sensor 710 is configured to face the second sensor 720. When a signal indicating that the third sensor 730 is in contact with the first sensor 710 is applied, the control unit determines that the massage device 200 is completely inserted into the inner space A of the support module 100.

[0195] On the contrary, in a state where the massage device 200 has been inserted, it is measured that the third sensor 730 faces the first sensor 710. After that, when the first sensor 710 moves to a position facing the second sensor 720, the control unit may determine that the massage device 200 moves out from the inner space A of the first frame 110.

[0196] In this way, including the second sensor 720 and the third sensor 730 that can measure the movement path of the first sensor 710 and are fixed to the first frame 110, the control unit can sequentially receive signals from each sensor, thereby determining the insertion state or the extraction (pull-out) state of the massage device 200.

[0197] In addition, the control unit may determine the insertion state or the extraction state of the massage device 200 and compare it with the driving amount of the driving unit 220. And when the driving amount of the driving unit 220 is different from the moving amount of the massage device 200 in the width direction, the compensation control of the driving amount of the driving unit 220 may be executed. Or, the moving amount of the massage device 200 set according to the same driving amount of the driving unit 220 may be compensated by feedback control.

[0198] In this way, the control unit may be configured to compensate the set driving conditions by comparing the moving amount and the driving amount of the massage device 200 with the actual moving amount of the first sensor 710.

[0199] Figures 28 to 32 FIG. is a view showing a track 1100 located in the support module 100 and used to guide the movement of the massage device 200 according to another embodiment of the present invention.

[0200] As Figure 31 shown, in this embodiment, the track 1100 is located inside the first frame 110, and the rollers 1000 located in the second frame 210 are inserted into the inside of the track 1100 and move along the track 1100. In addition, in the initial coupling step, an open hole 1100a is provided at the upper end of the track 1100, and the roller 1000 can be inserted and fastened to the hole 1100a.

[0201] The track 1100 is provided along the width direction at the upper and lower ends of the first frame 110. In addition, both ends of the track 1100 are closed, so that the movement of the roller 1000 moving along the inside of the track 1100 in the length direction can be restricted.

[0202] Therefore, the massage device 200 can move along the length direction of the track 1100, and the roller 1000 moves along the length direction of the track 1100. Thus, the massage device 200 can perform linear movement based on the support module 100.

[0203] AsFigure 29 As shown, open holes 1100a are provided on the upper surfaces of rails 1100 provided at the upper and lower ends of the first frame 110 in the width direction, and rollers 1000 protruding from the outer side surfaces of the second frame 210 can be inserted inside the open holes 1100a of the rails 1100.

[0204] As Figure 30 Shown in the side cross-sectional view, the rollers 1000 inserted into the rails 1100 can move in the longitudinal direction along the rails 1100 in a state where they are restricted vertically inside the rails 1100.

[0205] Among them, in order to prevent the massage device 200 from separating from the rails 1100, a cover 1200 is included, and the cover 1200 is configured to wrap the open holes 1100a formed in the rails 1100. More preferably, as Figure 32 Shown, the cover 1200 can be configured to be fixed to the first frame 110 by bolts in a state where the rollers 1000 are inserted inside the rails 1100, and the cover 1200 can be configured such that its end is bent downward to have the same shape as the cross-sectional shape of the rails 1100.

[0206] According to another embodiment of the present invention, the massage device 200 can only perform linear movement along the longitudinal direction of the rails 1100, and both ends of the rails 1100 are closed to restrict the rollers 1000 from moving in the longitudinal direction, thereby preventing the massage device 200 from detaching outside the support module 100.

[0207] Figures 33 to 35 shows the configuration of an alignment unit 600 capable of determining the alignment relationship between the massage device 200 and the support module 100 in an embodiment of the present invention.

[0208] According to an embodiment of the present invention, the alignment unit 600 includes sensor units 630 located at the upper end 101 and the lower end 102 of the support module 100.

[0209] The sensor units 630 may include magnet members 111 located at the upper and lower ends of the first frame 110 and at both ends of the internal space A. Correspondingly, contact sensors 632 are included at the upper and lower ends of the massage device 200. That is, when the massage device 200 is pulled out and then inserted again into the internal space A at the lower end of the support module 100, the sensor units 630 can determine the alignment relationship between the second frame 210 and the internal space A.

[0210] Among them, as Figure 35As shown, when the contact sensors 632 located at the upper and lower ends of the second frame 210 come into contact with the magnet members 111 located at the upper and lower ends of the first frame 110, the control unit determines that the alignment for introducing the massage device 200 into the internal space A has been achieved, and controls the insertion of the massage device 200 into the internal space A by controlling the drive unit 220.

[0211] On the contrary, when it is determined that at least one of the contact sensors 632 located on the second frame 210 does not contact the magnet member 111, the control unit re - sets the alignment of the massage device 200.

[0212] As an example of the present utility model, when it is determined that the massage device 200 is not aligned with the internal space A, the sensing unit 240 senses the alignment state of the massage device 200, and the drive unit 220 is controlled to move the massage device 200 to a position aligned with the internal space A in the width direction.

[0213] The sensor unit 630 is configured to determine whether the upper and lower ends of the second frame 210 are all aligned with the internal space A of the first frame 110, and can determine whether the second frame 210 is inserted obliquely into the internal space A of the first frame 110 or whether the second frame 210 is misaligned with the internal space A. In this case, the control unit can control the alignment state of the second frame 210, and accordingly, the massage device 200 can be placed in the internal space A without damage.

[0214] As another embodiment of the sensor unit 630 of the present utility model, as Figure 36 and Figure 37 shown, a pressure sensor 631 is provided, and the pressure sensor 631 is located at the upper and lower edges of an open surface of the internal space A of the first frame 110.

[0215] The pressure sensor 631 protrudes outward in a direction facing the lower end of the massage device 200 introduced into the first frame 110. And the pressure sensor 631 is configured to extend along the height direction of the first frame 110. And one or more rows of pressure sensors 631 can be located at the upper end of the first frame 110.

[0216] The pressure sensor 631 can take the situation of external pressure application as a signal and send it to the control unit, and the control unit can stop the drive unit 220 of the massage device 200 according to the sent signal.

[0217] Therefore, when the upper and lower ends of the first frame 110 provided with the pressure sensor 631 come into contact with the massage device 200, the control unit receives a signal from the pressure sensor 631 and switches the drive unit 220 of the massage device 200 to the off state. Further, the control unit receives the position of the pressure sensor 631 that applies a signal among the upper or lower ends of the first frame 110, and retransmits the alignment signal of the massage device 200 based on this.

[0218] As Figure 38 shown, the pressure sensor 631 located at the upper end of the first frame 110 can convert the situation of coming into contact with the massage device 200 into a signal and send it to the control unit. As Figure 39 shown, the situation of coming into contact with the pressure sensor 631 located at the lower end of the first frame 110 can be converted into a signal and sent to the control unit.

[0219] In this way, the pressure sensor 631 is located at the front end where the massage device 200 is inserted into the inner space A outside the first frame 110, and when the massage device 200 comes into contact with the upper or lower end of the first frame 110, the drive of the massage device 200 can be stopped. Therefore, according to the present utility model, when the massage device 200 is inserted into the inner space A of the first frame 110, the alignment relationship of the massage device 200 can be judged, and accordingly, damage caused by continuous driving of the massage device 200 can be reduced.

[0220] In addition, the control unit judges whether the massage device 200 is inserted into the inner space A in a misaligned state, and realigns the massage device 200 along the length direction of the first frame 110. Further, the control unit can receive the position information of the massage device 200 through the sensing unit 240, and control the drive unit 220 to compensate for the positional relationship between the inner space A and the massage device 200.

[0221] Figures 40 to 44 An alignment unit 600 is shown that can easily insert the massage device 200 into the inner space A mechanically.

[0222] At least one alignment unit 600 is located at the upper or lower end of the first frame 110, and when the massage device 200 is drawn out (pulled out) and then inserted into the inner space A again, the width in the length direction of the end portion of the inner space A is enlarged.

[0223] Among them, the alignment unit 600 includes a cover portion 610 located at one end of the first frame 110. The cover portion 610 is rotated and opened by a guiding motor 620. More preferably, when the massage device 200 led out to the outside of the internal space A moves to a position adjacent to the lower end of the first frame 110, the control unit drives the guiding motor 620 to rotate the cover portion 610 outwardly of the internal space A and open it. Therefore, in a state where the inlet of the internal space A is relatively widened, the massage device 200 can be inserted into the internal space A.

[0224] In Figure 40 it is shown that the massage device 200 is placed on the support module 100 in such a way that at least a part of it overlaps with the area of the inner internal space A of the support module 100.

[0225] As shown in the figure, in a state where the massage device 200 is led out from the internal space A or in a state where at least a part of the massage device 200 is inserted into the internal space A, the cover portion 610 switches to a closed state. More preferably, the cover portion 610 can be set to have a surface parallel to one surface of the lower end of the first frame 110. Therefore, the cover portion 610 does not rotate and unfold outwardly and is set not to be exposed to the outside in a state parallel to one surface of the lower end of the first frame 110.

[0226] On the contrary, as Figure 41 and Figure 42 shown, when the massage device 200 is led out and then inserted again into the internal space A of the first frame 110, the control unit rotates the cover portion 610, thereby expanding the space of one open surface of the internal space A.

[0227] As shown in the figure, the cover portion 610 is configured to rotate one end thereof toward the outside of the lower end of the first frame 110 by receiving the driving force of the guiding motor 620. More preferably, the end adjacent to the massage device 200 rotates outwardly of the first frame 110 and opens. Therefore, the massage device 200 can be inserted into the internal space A of the first frame 110 having a wider inlet.

[0228] Figures 43 to 44 It shows the fastening relationship between the cover portion 610 and the guiding motor 620 of the alignment unit 600.

[0229] As an embodiment of the present invention, the cover portion 610 is configured to form one surface of the inlet of the internal space A at the lower end of the first frame 110. In addition, the cover portion 610 can be fastened to the guiding motor 620 fixed to the back surface of the first frame 110 through a bracket 610a. Therefore, the guiding motor 620 is controlled to receive a signal from the control unit and selectively open the cover portion 610.

[0230] In addition, the control unit is configured to rotate and open the cover portion 610 toward the outside of the first frame 110 by driving the guide motor 620 when the massage device 200 is inserted into the internal space A.

[0231] The control unit executes a control command for reinserting the massage device 200 into the internal space A and accordingly controls the driving of the driving unit 220. At this time, the control unit predicts the movement path of the massage device 200, and when the massage device 200 moves to a position adjacent to the internal space A of the first frame 110, it rotates and opens the cover portion 610 toward the outside of the first frame 110 by driving the guide motor 620.

[0232] The cover portion 610 receives the rotational force of the guide motor 620 and thus opens toward the outside of the first frame 110. In addition, the cover portion 610 is fastened to the guide motor 620 by a bracket, and the cover portion 610 rotates integrally along the rotational direction of the bracket 610a connected to the central axis of the guide motor 620.

[0233] As described above, embodiments of the present invention have been described with reference to the accompanying drawings. However, those skilled in the art to which the present invention pertains will understand that the present invention can be implemented in other specific forms without changing its technical idea or essential features. Therefore, it should be understood that the above-described embodiments are exemplary in all respects and not restrictive.

Claims

1. A retractable massage device, characterized in that: include: A support module capable of supporting a part of a user's body, wherein an internal space is formed at a lower end of the support module; a massage device capable of being inserted into or led out of the internal space and comprising a massage module that reciprocates along the length direction of the massage device; as well as The cleaning unit is arranged on the massage device and is used for sucking in foreign matter.

2. The storage type massage device according to claim 1, characterized in that: The massage device is provided with a driving unit, and the driving unit is used to insert the massage device into the internal space or lead the massage device out from the internal space.

3. The storage type massage device according to claim 2, characterized in that: The driving unit comprises: a plurality of wheels mounted on the lower end of the massage device; and At least one driving motor is used to drive the plurality of wheels.

4. The storage type massage device according to claim 3, characterized in that: The at least one driving motor includes a plurality of driving motors installed on any one of a plurality of first wheels and a plurality of second wheels, and based on the direction in which the massage device is led out of the inner space, the plurality of first wheels correspond to the front wheels, and the plurality of second wheels correspond to the rear wheels. The rotation speeds of the plurality of drive motors can be controlled to be different from each other.

5. The storage type massage device according to claim 1, characterized in that: Also includes: a first frame, for supporting the support module, and a second frame, used to support the massage device; The cleaning unit is arranged on the back side of the second frame.

6. The storage type massage device according to claim 3, characterized in that: The cleaning unit is arranged along the length direction, and moves between the plurality of wheels of the massage device.

7. The storage type massage device according to claim 1, characterized in that: The cleaning unit is disposed at a front end of the massage device in a direction leading out from the internal space.

8. The storage type massage device according to claim 1, characterized in that: The cleaning unit comprises: A guide rail extending along the length direction of the massage device; One or more roller parts are located on the upper surface of the guide rail; A cleaning bracket extending from the lower end of the guide rail in a height direction and connected to the roller portion; a cleaning device body connected to the cleaning support and comprising an inflow hole; and The driving part penetrates the cleaning bracket and applies a driving force to the lower surface of the guide rail.

9. The storage type massage device according to claim 8, characterized in that: The movement of the roller part and the driving part in the height direction of the guide rail is restricted by the cleaning bracket.

10. The storage type massage device according to claim 8, characterized in that: The guide rail includes a spacer protruding from an upper end in a height direction, The one or more roller parts are in contact with the upper surface of the guide rail at both sides of the spacer.

11. The storage type massage device according to claim 1, characterized in that: The cleaning unit comprises: a storage box for storing foreign matter sucked by the cleaning unit, and an opening portion formed in an open manner at one side of the massage device to disassemble and install the storage box; When the driving of the cleaning unit is turned off, the storage box moves to a position corresponding to the opening.

12. The storage type massage device according to claim 1, characterized in that: A wiping unit extending along the length direction is arranged on the lower surface of the massage device.

13. The storage type massage device according to claim 12, characterized in that: The wiping unit is located at a rear end in a width direction of the cleaning unit.

14. The storage type massage device according to claim 12, characterized in that: The wiping unit comprises: A wiping member facing the floor, a wiping support connected to the massage device and used to guide the movement of the wiping member, and an actuator connected to the wiping member; The wiping member moves in a height direction as the actuator expands and contracts in the length direction.

15. The storage type massage device according to claim 14, characterized in that: The wiping unit also includes: a rod fastened to the wiping member, and a guide groove, located on the wiping bracket, wherein the rod is inserted into the guide groove; The rod moves along the guide groove as the actuator expands and contracts in the longitudinal direction.

Images