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 the massage module reciprocates along the length direction of the massage device. According to the storage type massage device provided by the embodiment of the utility model, various structures used for guiding the driving module to move and insert are provided, so that the effect of providing a structure capable of minimizing interference between the fixed module and the movable module is achieved.

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 requires a space with a specified width capable of accommodating the massage rollers, and if it is desired to separately configure the bed and the massage bed, 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 currently sold or developed bed-type furniture 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 there is a need for a massage device with high space utilization.

[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 a fixed module.

[0013] In addition, the present utility model aims to provide a collapsible massage device that guides 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 configured as 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 collapsible massage device for achieving the object of the present utility model described above includes the following structure.

[0017] The collapsible massage device according to an embodiment of the present utility model includes: a support module that can support a part of the user's body and has an internal space formed at the lower end of the support module; a massage device that can be inserted into or drawn out from the internal space; and a massage module that reciprocates along the length direction of the massage device.

[0018] Moreover, a collapsible 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 it out from the internal space of the support module.

[0019] Moreover, a collapsible massage device is provided, wherein a cleaning unit is included, and the cleaning unit is arranged on the massage device and used to suck in foreign matters

[0020] Moreover, a collapsible 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.

[0021] Moreover, a collapsible 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.

[0022] And, a collapsible massage device is provided, which includes: a first frame for supporting the support module; a second frame for supporting the massage device; at least one guiding portion provided on the first frame exposed to the internal space and for guiding the movement of the massage device; a track provided on the second frame and forming a space for the guiding portion to move; and a blocking portion disposed at one end of the track.

[0023] And, a collapsible massage device is provided, wherein the blocking portion is configured as a double-hinge structure. When the massage device is moved out of the internal space of the support module, the blocking portion blocks one end of the track. And when the massage device is inserted into the internal space of the support module, the blocking portion rotates by contacting the guiding portion to open one end of the track.

[0024] And, a collapsible massage device is provided, which further includes: a anti-disengagement plate capable of rotating into the track, and a motor for rotating the anti-disengagement plate; the anti-disengagement plate is connected to the motor and extends in the direction in which the massage device is led out of the internal space with the position of the motor as a reference. After the massage device is completely inserted into the internal space, the anti-disengagement plate rotates and blocks the guiding portion inserted into the track from moving out of the track.

[0025] And, a collapsible massage device is provided, wherein when the massage device is led out of the internal space, the anti-disengagement plate rotates to the outside of the track to avoid interference with the guiding portion.

[0026] And, a collapsible massage device is provided, which further includes an alignment unit located at one end of the first frame in the direction in which the massage device is led out of the internal space and for guiding the massage device to be inserted into the internal space.

[0027] And, a collapsible massage device is provided, wherein the alignment unit includes: a cover portion located at the open end of the first frame, and a guiding motor for rotating the cover portion; when the massage device is inserted into the internal space, the guiding motor rotates the cover portion to open it.

[0028] And, a collapsible massage device is provided, wherein the alignment unit further includes a sensor portion located on the second frame or the first frame and for judging the alignment of the massage device.

[0029] Moreover, a collapsible massage device is provided, wherein the sensor unit includes a pressure sensor located at an open end of the first frame, and when pressure is applied to the pressure sensor, the massage device is realigned to be inserted into the internal space.

[0030] Moreover, a collapsible massage device is provided, wherein the sensor unit includes: a magnet member located at both ends of the internal space on the first frame, and a contact sensor disposed at one end of the second frame in the direction in which the massage device is inserted into the internal space corresponding to the magnet member; when the second frame is inserted into the internal space, if the contact sensors are in contact with the magnet members located at both ends of the internal space, it is determined that the massage device is aligned with the internal space.

[0031] Moreover, a collapsible massage device is provided, wherein the position sensor unit includes: a first sensor disposed on one surface of the massage device in the direction in which it is inserted into the internal space, and a second sensor disposed on the first frame; when the massage device protrudes maximally from the internal space, the first sensor and the second sensor overlap each other.

[0032] Moreover, a collapsible massage device is provided, wherein the position sensor unit includes a third sensor disposed on the first frame, and when the massage device is completely inserted into the internal space, the first sensor and the third sensor overlap each other.

[0033] Moreover, a collapsible massage device is provided, wherein the cleaning unit is located at the front end in the moving direction of the massage device, and the cleaning unit is arranged along the length direction and moves between a plurality of wheels of the massage device.

[0034] Moreover, a collapsible massage device is provided, 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.

[0035] Moreover, a collapsible massage device is provided, 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 disassembling and assembling the storage box. When the driving of the cleaning unit is turned off, the storage box moves to a position corresponding to the opening.

[0036] Moreover, a foldable massage device is provided, wherein a wiping unit extending along the length direction is provided on the lower surface of the massage device.

[0037] Moreover, a foldable massage device is provided, wherein the wiping unit includes: a wiping member facing the floor; a wiping bracket connected to the massage device and 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.

[0038] Moreover, a foldable massage device is provided, wherein a sensing unit is provided on one side of the massage device, and the terrain sensor senses contact between the massage device and an obstacle or a person when the massage device is drawn out of the interior space.

[0039] Utility Model Effects

[0040] The present utility model can achieve the following effects through the combination and usage relationship of the above embodiments and the configurations to be described below.

[0041] According to the present utility model, a module that can be independently driven is housed in the interior space of a fixed module, thereby having the effect of improving the space utilization rate when the foldable massage device is not in use.

[0042] Moreover, 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 interference between the fixed module and the movable module. Brief Description of the Drawings

[0043] Figure 1 is a view showing a foldable massage device according to an embodiment of the present utility model.

[0044] Figure 2 is a view showing a massage device including a driving unit according to an embodiment of the present utility model.

[0045] Figure 3 is a view showing Figure 2 the driving unit in

[0046] Figure 4 is a view showing a first frame constituting a support module according to an embodiment of the present utility model.

[0047] Figure 5 is a view showing the first frame and the second frame according to an embodiment of the present utility model.

[0048] Figure 6 is a view showing a guiding portion and a blocking portion according to an embodiment of the present utility model.

[0049] Figures 7 to 8 This is a diagram showing a guiding part fastened to a track according to an embodiment of the present invention.

[0050] Figure 9 This is a diagram showing a guiding part inserted inside a track according to an embodiment of the present invention.

[0051] Figure 10 This is a diagram showing an anti - detachment plate rotated to a position where interference occurs on the track path according to an embodiment of the present invention.

[0052] Figure 11 This is a diagram showing an anti - detachment plate rotated to a position where no interference occurs on the track path according to an embodiment of the present invention.

[0053] Figure 12 This is a diagram showing a massage device including a cleaning unit according to an embodiment of the present invention.

[0054] Figure 13 This is a diagram showing a side view of a massage device including a cleaning unit according to an embodiment of the present invention.

[0055] Figure 14 This is a diagram showing a cleaning unit fastened to a second frame according to an embodiment of the present invention.

[0056] Figure 15 This is a diagram showing the structure of a cleaning unit according to an embodiment of the present invention.

[0057] Figure 16 This is a diagram showing the structure of a cleaning unit fastened to a guide rail according to an embodiment of the present invention.

[0058] Figure 17 This is a diagram showing the back of a cleaning unit according to an embodiment of the present invention.

[0059] Figure 18 This is a diagram showing the dust movement path of a cleaning unit according to an embodiment of the present invention.

[0060] Figures 19 to 20 This is a diagram showing the structure of the opening part and the storage box of a cleaning unit according to an embodiment of the present invention.

[0061] Figures 21 to 23 This is a diagram showing the structure for changing the height of a wiping unit according to an embodiment of the present invention.

[0062] Figure 24 This is a diagram showing the structure of a driving unit including a driving shaft according to another embodiment of the present invention.

[0063] Figures 25 to 27 This is a diagram showing a sensor for measuring movement in the longitudinal direction of a massage device according to an embodiment of the present utility model.

[0064] Figures 28 to 30 This is a diagram showing a track located in a support module and used to guide the movement of a massage device according to another embodiment of the present utility model.

[0065] Figure 31 This is a diagram showing the configuration of a track according to another embodiment of the present utility model.

[0066] Figure 32 This is a diagram showing a cover configured to wrap the open end of a track according to another embodiment of the present utility model.

[0067] Figures 33 to 35 This is a diagram showing the coupling relationship between the configurations of an alignment unit according to an embodiment of the present utility model.

[0068] Figures 36 to 39 This is a diagram showing the positional relationship of a sensor unit according to an embodiment of the present utility model.

[0069] Figures 40 to 44 This is a diagram showing the driving relationship of a cover unit according to an embodiment of the present utility model.

[0070] Description of Reference Numerals

[0071] 100: Support module

[0072] 101: Upper end

[0073] 102: Lower end

[0074] 110: First frame

[0075] 111: Magnet member

[0076] 120: Guide part

[0077] 200: Massage device

[0078] 210: Second frame

[0079] 220: Driving unit

[0080] 221: Wheel

[0081] 222: Driving motor

[0082] 230: Track

[0083] 231: Blocking part

[0084] 232: Anti-disengagement plate

[0085] 233: Electric motor

[0086] 240: Sensing unit

[0087] 300: Massage module

[0088] 400: Cleaning unit

[0089] 410: Guide rail

[0090] 420: Roller part

[0091] 430: Cleaning bracket

[0092] 440: Cleaner main body

[0093] 450: Driving part

[0094] 460: Storage box

[0095] 470: Opening part

[0096] 500: Wiping unit

[0097] 510: Wiping member

[0098] 520: Wiping bracket

[0099] 521: Guide groove

[0100] 530: Actuator

[0101] 600: Alignment unit

[0102] 610: Cover part

[0103] 620: Guide motor

[0104] 630: Sensor part

[0105] 631: Pressure sensor

[0106] 632: Contact sensor

[0107] 700: Position sensor unit

[0108] 710: First sensor

[0109] 720: Second sensor

[0110] 730: Third sensor

[0111] 1000: Roller

[0112] 1100: Track

[0113] 1200: Cover Detailed implementation manners

[0114] Advantages and features of the present utility model and methods for realizing them 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 provision of these embodiments is only to ensure that the disclosure of the present utility model is complete and to 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.

[0115] Terms such as "... part", "... unit", "... 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.

[0116] Moreover, in this specification, the names of structures are distinguished as "first", "second", etc. to distinguish structures with the same name, and are not necessarily limited to their order in the following description.

[0117] 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 Figure 1 However, these are for explaining the directions in which each component moves and are not limited to the described directions.

[0118] The detailed description is an illustrative example of the present utility model. Moreover, the above content represents and illustrates the preferred embodiments of the present utility model, and the present utility model can be used in a variety of different combinations, changes, and environments. That is, within the scope of the concept of the utility model disclosed in this specification, the scope equivalent to the above disclosure and / or within the scope of the technology or knowledge in the art can be changed or modified. The above embodiments illustrate the best state of the technical idea of the present utility model for realizing the present utility model, and various changes required in the specific application field and use of the present utility model are also possible. Therefore, the above detailed description of the present utility model is not intended to limit the present utility model to the disclosed embodiments. In addition, the appended claims should also be interpreted as covering other embodiments.

[0119] Figure 1 is a diagram showing a collapsible massage device according to an embodiment of the present utility model.

[0120] Refer 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 a structure capable of supporting a part of the user's body. In an embodiment of the present utility model, 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 is a structure that can be placed at a position overlapping the support module 100 in space, and may include a furniture structure having the same form as the support module 100 or a structure separated from the support module 100.

[0121] As an example, the support module 100 may be configured as a bed, and the massage device 200, as a sub-bed, may be configured to be inserted into or withdrawn from the internal space A located below the first module. Also, the support module 100 may be configured as a sofa, and the massage device 200 may be composed of a cushion that is placed in the lower end space of the support module 100 and can be unfolded. In this way, the support module 100 is a structure including 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.

[0122] The support module 100 may have an internal space A into which the massage device 200 can be inserted. When the massage device 200 is completely inserted into the internal space A, the massage device 200 may not protrude outside the support module 100. As an embodiment of the present utility model, 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 may be configured as a space into which the massage device 200 can be inserted.

[0123] The massage device 200 can be inserted into or withdrawn from the internal space A of the support module 100. The massage device 200 may include a massage module 300 for massaging the user. At least a part of the massage module 300 may 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.

[0124] The sitting-type massage module 300 refers to a form in which one end of the upper surface of the massage device 200 rises along the height direction at a predetermined angle, and the massage module 300 is driven in a state where the user is seated on the massage device 200. For the bed-type massage module 300, when the user lies on the upper surface of the massage device 200, the massage module 300 moves while in contact with the user's body and performs acupressure on the user's body, thereby providing acupressure massage.

[0125] As an embodiment of the present utility model, the massage device 200 includes a bed-type massage module 300, and the massage module 300 can reciprocate in the length direction on the upper surface of the massage device 200.

[0126] In addition, the massage module 300 is located on the upper surface of the massage device 200, and the massage module 300 includes massage ceramics 310 that directly or indirectly contact the user's body and a recessed space B formed in the massage device 200. The massage ceramics 310 can reciprocate in the length direction in the recessed space B formed in the massage device 200. And the massage ceramics 310 include a height adjustment part, whereby the massage ceramics 310 can selectively move in the height direction on the upper surface of the massage device 200. Therefore, the massage ceramics 310 protrude a predetermined height from the upper surface of the massage device 200 in response to the 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.

[0127] Moreover, the massage ceramics 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 recessed space B, and at the same time, the height of the massage ceramics 310 can be changed.

[0128] 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 ceramics 310. Therefore, the actuator can drive the massage ceramics 310 in such a way that the massage ceramics 310 selectively protrude 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 ceramics 310 can reciprocate in the length direction of the recessed space B on the upper surface of the massage device 200, and the massage ceramics 310 are fastened to the actuator and placed inside the recessed space B.

[0129] 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 drawn out from the internal space A of the support module 100.

[0130] In addition, the massage module 300 can be driven according to a user's request. More preferably, the massage module 300 can include a position sensor unit 700 that can determine the position of the massage device 200 in the internal 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 the internal space A can include more than one sensor corresponding to the sensor of the massage device 200. Therefore, it can be determined at which position in the internal space A the massage device 200 is located. In addition, when the position sensor unit 700 determines that the massage device 200 completely protrudes or extends out of the internal space A to the outside, the control unit can execute the driving of the massage module 300.

[0131] The support module 100 can be configured to have a relatively longer length in the length direction and the width direction compared to the massage device 200, and the internal space A formed in the support module 100 can not be 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, so that the internal space A is not exposed.

[0132] The support module 100 of the present utility model includes a first frame 110 for supporting a cushion located at the upper end of the support module 100. The first frame 110 is formed in a state where one surface in the width direction is open, and thus 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 the 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.

[0133] The massage device 200 includes a second frame 210 for supporting the massage device 200, and is configured to have a relatively smaller height, length, and width 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 one surface of the first frame 110 that is open when the second frame 210 is inserted into the internal space A is not exposed to the outside.

[0134] 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 an area overlapping 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.

[0135] The position sensor unit 700 may 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) may be provided inside the first frame 110 and located on the moving path of the first sensor 710.

[0136] In an embodiment of the present utility model, it includes: a third sensor 730 at a position corresponding to the first sensor 710 of the massage device 200 inserted inside the internal space A; and a second sensor 720 located at an open end of the internal space A and arranged on the moving path of the first sensor 710.

[0137] Therefore, when the massage device 200 is inserted inside the internal space A and then drawn out 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, and thus the first sensor 710 moves in a direction of sequentially contacting 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 been drawn out from the inside of the internal space A.

[0138] 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.

[0139] Figure 2 Shown in the figure is the driving unit 220 of the massage device 200 as an embodiment of the present utility model. Figure 3 It is an enlarged view showing the driving unit 220.

[0140] 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 the drive motor 222, and the massage device 200 is enabled to perform linear movement and rotational movement according to the rotational force applied by the drive motor 222.

[0141] In addition, the drive motor 222 provided in the massage device 200 may apply a driving force to the plurality of wheels 221 located at the front end in the direction leading out from the internal space A of the massage device 200, or apply a driving force to the plurality of wheels 221 located at the rear end in the direction leading out from the internal space A of the massage device 200. The control unit may control the driving of the drive motor 222 in response to a user's request or the setting of the moving direction.

[0142] According to an embodiment of the present invention, the drive motor 222 is fastened to each of the two wheels 221 located at the front end and transmits the driving force of the massage device 200. Therefore, when the massage device 200 is led 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's request in a state where the massage device 200 is completely led 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.

[0143] That is, the drive motor 222 of the drive unit 220 may apply a driving force to the wheel 221 according to the moving direction of the massage device 200. In another embodiment of the present invention, the massage device 200 performs linear movement and rotational movement through the drive motor 222 fastened to the plurality of wheels 221 located at the rear end.

[0144] In the embodiment of the present invention that drives the wheels 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 turning radius.

[0145] 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 fastened coaxially with the transmission gear 221a and 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.

[0146] In an embodiment of the present utility model, the driving gear 222a is configured to have an outer diameter relatively smaller than that of the transmission gear 221a, and the number of revolutions of the wheel 221 is smaller than the number of revolutions applied from the driving motor 222, and is configured to transmit a torque relatively larger than the torque of the central axis of the driving motor 222 to the wheel 221.

[0147] Figure 4 FIG. 4 is a configuration diagram showing the support module 100 according to an embodiment of the present utility model.

[0148] 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 form in which the cushion is 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 form in which 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 surface of the open first frame 110, or selectively drawn out from the internal space A.

[0149] 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.

[0150] 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.

[0151] 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 portions 120 of the first frame 110, whereby the guide portions 120 can move along the rails 230.

[0152] As Figure 5 shown, at the time point when the massage device 200 is inserted into the internal space A, the rails 230 move to positions opposite to the guide portions 120.

[0153] In addition, the blocking part 231 at the end of the rail 230 contacts the guiding part 120 and is rotationally opened, whereby the rail 230 linearly moves along the guiding part 120 into the internal space A. The blocking part 231 can be configured to contact the guiding part 120 and rotate along the moving direction of the guiding part 120 with reference to the second frame 210 fastened to the blocking part 231, thereby opening the rail 230.

[0154] In Figure 6 the configuration of the guiding part 120 disposed adjacent to the end of the rail 230 and the blocking part 231 at the opened end of the rail 230 is shown. In Figure 7 the configuration in which the blocking part 231 is rotationally opened is shown. And, in Figure 8 the positional relationship among the guiding part 120, the blocking part 231, and the rail 230 adjacent to each other is shown.

[0155] The guiding parts 120 at the upper and lower ends in the longitudinal direction on the back surface of the first frame 110 are disposed to face the rails 230 at the upper and lower ends on the back surface of the second frame 210. In addition, it includes the blocking part 231 at the opened end of the rail 230, and the rail 230 contacts the guiding part 120 when the massage device 200 moves into the internal space A.

[0156] The blocking part 231 is located at the opened end of the rail 230 and rotates in two directions with reference to the upper end of the second frame 210, whereby the opened end of the rail 230 is selectively opened and closed. In addition, the blocking part 231 is located at the end of the rail 230 and includes a structure of a double hinge 231a that can rotate in two directions and is opened. Therefore, when the guiding part 120 moves from the outside of the rail 230 to the inside of the rail 230, the blocking part 231 interferes with the guiding part 120 and thus rotates upward along the inner direction of the rail 230.

[0157] As Figures 7 to 8 shown, the blocking part 231 contacts the guiding part 120, whereby 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 rail 230.

[0158] The guiding part 120 can be configured in the form of a roller capable of rotating along the central axis fastened to the first frame 110, and at least one guiding part 120 can be disposed in the width direction at the upper end 101 and the lower end 102 of the first frame 110.

[0159] And, as Figures 9 to 10As shown, the anti-disengagement plate 232 is configured such that one end thereof is fastened to the rail 230 and is rotatable. In a state where the guiding portion 120 is inserted into the inner side of the rail 230, the anti-disengagement plate 232 rotates and moves to a position where it selectively interferes with the movement path of the guiding portion 120 inside the rail 230.

[0160] As Figure 9 shown, when the massage device 200 moves in the width direction into the inner space A, the guiding portion 120 passes through the blocking portion 231 and is located inside the rail 230.

[0161] Thereafter, the guiding portion 120 moves to a predetermined position inside the rail 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 rail 230.

[0162] 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 rail 230. Among them, Figure 10 shows a state in which the anti-disengagement plate 232 moves to a position for preventing the guiding portion 120 from disengaging in a state where the guiding portion 120 is inserted inside the rail 230, Figure 11 shows the anti-disengagement plate 232 at the time point when the guiding portion 120 inserted inside the rail 230 disengages from the rail 230.

[0163] Among them, on the condition that the first sensor 710 located on the second frame 210 is in contact with 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 portion 120.

[0164] Specifically, as Figure 9 shown, when the massage device 200 is inserted into the inner 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 portion 120 to the outside of the movement path of the rail 230.

[0165] 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 inner 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 portion 120.

[0166] That is, asFigure 9 As shown, when the massage device 200 is inserted into the inner 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 portion 120, as Figure 10 As shown, when it is recognized that the guiding portion 120 is inserted into the inner side of the track 230, the control unit controls the motor 233 so that one end of the anti-disengagement plate 232 rotates, thereby preventing the guiding portion 120 from disengaging from the track 230.

[0167] On the contrary, as Figure 11 As shown, when the first sensor 710 releases the state of being fastened to the third sensor 730, a signal indicating that the massage device 200 performs a movement in the width direction is recognized, and the anti-disengagement plate 232 can be controlled to rotate outward of the track 230, so that the guiding portion 120 can be drawn out from the track 230. Moreover, the case where the massage device 200 is drawn out in the width direction from the inner space A is the case where the first sensor 710 releases the state of being fastened to the third sensor 730.

[0168] As described above, the second sensor 720 and the third sensor 730 of the support module 100 receive the positional relationship and movement status of the massage device 200, and based on this, the position of the anti-disengagement plate 232 is controlled.

[0169] Figures 12 to 15 The cleaning unit 400 included in the massage device 200 of the present utility model is shown.

[0170] The cleaning unit 400 is located adjacent to the lower end of an 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 that moves along the upper surface of the guide rail 410, so that the cleaning unit 400 can reciprocate in the longitudinal 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 used to provide driving force through a cleaning bracket 430. 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 longitudinal 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 when power is applied, 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 in 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 as a whole and move along the guide rail 410.

[0171] The cleaner main body 440 includes an inflow hole and 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.

[0172] Therefore, the foreign matters flowing into the inflow hole through the brush 451 are moved to a hose or a conduit by the air pressure of the blower and are dust-collected in a storage box 460 located on the upper surface of the cleaner main body 440.

[0173] 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 parts 420 are provided on the upper surfaces of the left and right sides of a partition protruding from the upper end of the guide rail 410. In addition, the roller part 420 is fastened to the cleaning bracket 430, an opening part is provided on the lower surface of the cleaning bracket 430, and a rotating member 452 extending from the cleaner main body 440 of the driving part 450 is in contact with the lower surface of the guide rail 410.

[0174] Therefore, the roller part 420 located on the upper surface of the guide rail 410 and the rotating member 452 of the driving part 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 part 450 and the roller part 420 can maintain a state of restricting the upper and lower surfaces of the guide rail 410.

[0175] 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 provided with the cleaning unit 400, 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.

[0176] 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.

[0177] 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.

[0178] In addition, the sensing unit 240 may include a terrain sensor that 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.

[0179] Figures 17 to 20 Shows the structural relationship between the cleaner body 440 disposed adjacent to the floor surface and the storage box 460 for storing foreign matters flowing into the suction holes of the cleaner body 440.

[0180] The cleaner body 440 includes an inflow hole facing the floor, and foreign matters flowing in from 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 an opening 470 formed on the outer surface of the massage device 200 in a selectively openable manner when the cleaning unit 400 is in a closed state.

[0181] 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 main body 440 by opening the opening 470.

[0182] The upper end hinge of the opening 470 is coupled to one surface of the massage module 300, and the lower end of the opening 470 can be rotated upward with reference to the upper end coupled by the hinge and opened. In addition, the storage box 460 moved to the position of the opening 470 may include a handle, whereby a user can apply tension in the direction in which the storage box 460 is pulled out from the cleaner main body 440.

[0183] 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 can be easily separated from the cleaner main body 440 in a state where the cleaning unit 400 is closed.

[0184] Figures 21 to 23 The configuration and driving diagram of a wiping unit 500 disposed adjacent to the cleaning unit 400 are shown.

[0185] 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.

[0186] 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 fastened to the wiping member 510 and moving the wiping member 510 along a guide groove 521 formed in the wiping bracket 520.

[0187] The wiping bracket 520 includes a guide groove 521 into which the rod 510a of the wiping member 510 is inserted. The guide 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. Accordingly, when the actuator 530 extends in the length direction, the rod 510a fastened to the wiping member 510 moves to the end of the lower end of the guide groove 521, and the wiping member 510 moves downward in the height direction. More preferably, the angle of the guide groove 521 may be set such that when the wiping member 510 moves to the end of the lower end of the guide groove 521, the wiping member 510 is in close contact with the floor.

[0188] As Figure 22 shown, the rear end of the actuator 530 is fastened to the second frame 210 in a manner capable of rotational movement in the vertical direction. Further, in a state where the actuator 530 is deployed, the rod 510a fastened to the wiping member 510 moves to the end of the lower end of the guide groove 521, such that the wiping member 510 is located at the lowest point.

[0189] 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 substances are removed by the cleaning unit 400.

[0190] 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 guide 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 guide groove 521, and the wiping member 510 is integrally located at the upper end in the height direction, thereby returning to a position spaced apart from the floor. Further, the other end of the actuator 530 fastened to the wiping member 510 may rotate with reference to the end of the actuator 530 fastened to the second frame 210. Accordingly, the wiping member 510 rotates integrally with the other end of the actuator 530 in the height direction.

[0191] When the wiping member 510 is separated from the floor, it may include the 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 utility model, 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.

[0192] Figure 24 The driving unit according to another embodiment of the present utility model is shown.

[0193] 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 drive motor 222 and receive driving force.

[0194] 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 drive shaft 221a, and the gear located on the drive shaft 221a and the drive motor 222 apply driving force to the drive shaft 221a. That is, it includes the drive shaft 221a of the front wheel or / and the rear wheel of the massage device 200, and includes at least one drive motor 222 fastened to the drive shaft 221a. Therefore, the plurality of wheels 221 located on the drive shaft 221a can rotate by the driving force of the drive motor 222.

[0195] In this case, through the pair of wheels 221 that rotate along with the drive shaft 221a, front-wheel drive in the direction in which the massage device 200 is led out from the internal space A can be performed, or rear-wheel drive in the direction in which the massage device 200 is led out from the internal space A can be selectively performed.

[0196] In addition, when driving force is applied to the pair of wheels 221 through the drive shaft 221a, the massage device 200 can perform linear movement. And each wheel 221 located at both ends of the drive shaft 221a can include a differential gear, whereby the rotation amount is controlled. Accordingly, the massage device 200 can pivot.

[0197] Figures 25 to 27 The plurality of sensors for measuring the movement in the longitudinal direction of the massage device 200 according to an embodiment of the present utility model are shown.

[0198] The massage device 200 disposed in the internal 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 internal 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.

[0199] 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 internal space A can be measured.

[0200] 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.

[0201] 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 internal space A of the support module 100.

[0202] 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 makes a movement out of the internal space A of the first frame 110.

[0203] 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.

[0204] 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 movement amount of the massage device 200 in the width direction, the control unit may execute compensation control of the driving amount of the driving unit 220. Or, the movement amount of the massage device 200 set according to the same driving amount of the driving unit 220 may be compensated by feedback control.

[0205] In this way, the control unit may be configured to compensate the set driving conditions by comparing the movement amount and the driving amount of the massage device 200 with the actual movement amount of the first sensor 710.

[0206] Figures 28 to 32 FIG. is a diagram showing a rail 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.

[0207] As Figure 31 shown, in this embodiment, the rail 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 rail 1100 and move along the rail 1100. In addition, in the initial coupling step, an open hole 1100a is provided at the upper end of the rail 1100, and the roller 1000 can be inserted and fastened into the hole 1100a.

[0208] The rail 1100 is disposed along the width direction at the upper and lower ends of the first frame 110. In addition, both ends of the rail 1100 are closed, so that the movement of the rollers 1000 moving along the inside of the rail 1100 in the length direction can be restricted.

[0209] Therefore, the massage device 200 can move along the length direction of the rail 1100, and the rollers 1000 move along the length direction of the rail 1100. Thus, the massage device 200 can perform linear movement based on the support module 100.

[0210] AsFigure 29 As shown, on the upper surface of the rails 1100 provided at the upper and lower ends of the first frame 110 in the width direction, open holes 1100a are provided, and the rollers 1000 protruding from the outer side surface of the second frame 210 can be inserted into the inner sides of the open holes 1100a of the rails 1100.

[0211] 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.

[0212] 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 bends downward to have the same shape as the cross-sectional shape of the rails 1100.

[0213] According to another embodiment of the present utility model, 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 disengaging from the outside of the support module 100.

[0214] Figures 33 to 35 Shown in is the configuration of the alignment unit 600 capable of determining the alignment relationship between the massage device 200 and the support module 100 according to an embodiment of the present utility model.

[0215] According to an embodiment of the present utility model, the alignment unit 600 includes sensor parts 630 located at the upper end 101 and the lower end 102 of the support module 100.

[0216] The sensor parts 630 may include magnet members 111 located at the upper and lower ends of the first frame 110 and at both ends of the inner 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 drawn out and then inserted again into the inner space A at the lower end of the support module 100, the sensor parts 630 can determine the alignment relationship between the second frame 210 and the inner space A.

[0217] 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.

[0218] 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.

[0219] 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.

[0220] 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.

[0221] 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 at the upper and lower edges of an open surface of the internal space A of the first frame 110.

[0222] 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.

[0223] The pressure sensor 631 can take the case 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.

[0224] 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 the 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.

[0225] 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.

[0226] 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. Accordingly, damage caused by continuous driving of the massage device 200 can be reduced.

[0227] 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.

[0228] Figures 40 to 44 An alignment unit 600 is shown that can easily insert the massage device 200 into the inner space A mechanically.

[0229] At least one alignment unit 600 is located at the upper or lower end of the first frame 110 and widens the width in the length direction of the end portion of the inner space A when the massage device 200 is drawn out (pulled out) and then inserted into the inner space A again.

[0230] Among them, the alignment unit 600 includes a cover portion 610 located at one end of the first frame 110, and the cover portion 610 is rotated and opened by a guiding motor 620. More preferably, when the massage device 200 drawn 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.

[0231] 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 inner internal space A of the support module 100.

[0232] As shown in the figure, in a state where the massage device 200 is drawn 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.

[0233] On the contrary, as Figure 41 and Figure 42 shown, when the massage device 200 is drawn out and then inserted again into the internal space A of the first frame 110, the control unit rotates the cover portion 610 to expand the space of the opened surface of the internal space A.

[0234] 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.

[0235] Figures 43 to 44 shows the fastening relationship between the cover portion 610 and the guiding motor 620 of the alignment unit 600.

[0236] 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.

[0237] 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.

[0238] 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.

[0239] 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.

[0240] As described above, embodiments of the present utility model have been described with reference to the accompanying drawings. However, those skilled in the art to which the present utility model pertains will understand that the present utility model can be implemented in other specific forms without changing its technical idea or essential features. Therefore, it should be understood that the above-described embodiments are exemplary in all aspects and not restrictive.

Claims

1. A 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 drawn out of the interior space; and The massage module reciprocates along the length direction of the massage device.

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 in different manners from each other.

5. The storage type massage device according to claim 2, characterized in that: Also includes: A first frame, used to support the support module; a second frame, used to support the massage device; at least one guide portion, disposed on the first frame exposed to the inner space and used to guide the movement of the massage device; A track, which is provided on the second frame and is a space where the guide part moves; as well as The blocking portion is arranged at one end of the track.

6. The storage type massage device according to claim 5, characterized in that: The blocking portion is configured as a double hinge structure. When the massage device is moved out of the inner space of the support module, the blocking portion blocks one end of the track, and when the massage device is inserted into the inner space of the support module, the blocking portion rotates by contacting the guide portion to open one end of the track.

7. The storage type massage device according to claim 5, characterized in that: The massage device also includes: an anti-breakaway plate capable of rotating into the interior of the track, and A motor, used to rotate the anti-separation plate; The anti-separation plate is connected to the motor and extends in a direction in which the massage device is led out of the internal space based on the position of the motor. After the massage device is completely inserted into the inner space, the anti-separation plate rotates and blocks the guide portion inserted into the rail from moving to the outside of the rail.

8. The storage type massage device according to claim 7, characterized in that: When the massage device is led out of the internal space, the anti-separation plate rotates toward the outside of the track to avoid interference with the guide portion.

9. The storage type massage device according to claim 5, characterized in that: An aligning unit is also included. The aligning unit is located at one end of the first frame in a direction in which the massage device is led out of the inner space and is used to guide the massage device to be inserted into the inner space.

10. The storage type massage device according to claim 9, characterized in that: The alignment unit comprises: a cover portion located at the open end of the first frame, and A guide motor for rotating the cover; When the massage device is inserted into the inner space, the guide motor rotates and opens the cover.

11. The storage type massage device according to claim 9, characterized in that: The alignment unit includes a sensor portion, which is located at the second frame or the first frame and is used to determine the alignment of the massage device.

12. The storage type massage device according to claim 11, characterized in that: The sensor unit includes a pressure sensor, and the pressure sensor is located at the open end of the first frame. When pressure is applied to the pressure sensor, the massage device is realigned for insertion into the interior space.

13. The storage type massage device according to claim 12, characterized in that: The sensor unit includes: magnet members located at both ends of the inner space of the first frame, and a contact sensor provided at one end of the second frame in a direction in which the massage device is inserted into the internal space in a manner corresponding to the magnetic member; When the second frame is inserted into the internal space, in the case where both of the contact sensors are in contact with the magnetic members located at both ends of the internal space, it is determined that the massage device is aligned with the internal space.

14. The storage type massage device according to claim 5, characterized in that: A position sensor unit is also included, and the position sensor unit is used to determine the position of the massage device when it is inserted into the internal space.

15. The storage type massage device according to claim 14, characterized in that: The position sensor unit comprises: a first sensor disposed on a surface of the massage device in a direction in which the massage device is inserted into the internal space, and A second sensor and a third sensor are configured on the first frame and are sequentially arranged corresponding to a moving path of the first sensor; When the massage device is maximally protruded from the inner space, the first sensor and the second sensor overlap each other. When the massage device is completely inserted into the inner space, the first sensor and the third sensor overlap each other.

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