Massage device

Abstract

A massage device is disclosed. The massage device according to the present specification can include a first arm part massage part configured at one side of a body massage part and capable of moving forward and backward, a second arm part massage part configured at the other side of the body massage part and capable of moving forward and backward, and a control part controlling the movement of the body massage part, the first arm part massage part, and the second arm part massage part; the control part can calculate a deviation between the moving speeds of the first arm part massage part and the second arm part massage part, and control the moving speed of at least one of the first arm part massage part and the second arm part massage part so that the deviation has a value within a pre-set deviation range.

Description

Technical Field

[0001] This utility model relates to a method for aligning and moving an arm massage part and a massage device for performing the method, and more specifically, to a method for aligning and moving an independently movable arm massage part and a massage device for performing the method. Background Technology

[0002] The content described in this section is merely to provide background information on the embodiments described in this specification and does not necessarily constitute prior art.

[0003] Massage refers to a medical adjunct therapy that involves applying various forms of mechanical stimulation to specific parts of the body, such as kneading, pressing, stretching, patting, or inducing physical activity, to adjust changes in the body, promote blood circulation, and relieve fatigue.

[0004] Due to economic and time constraints, there has been an increased demand for massage devices or equipment that provide artificial massage functions. Specifically, with the growing need to relieve stiff muscles and eliminate fatigue or stress through massage, various massage devices that offer good time and cost-effectiveness have been introduced.

[0005] Recently, people have been paying more attention to health, and massage devices have evolved from simply providing massage functions to electronic devices that offer a variety of additional functions and / or medical functions.

[0006] In addition, massage devices have been developed into devices that can help stretch muscles, ligaments, and other parts of the body.

[0007] Existing patent document: Korean Patent Publication No. 10-1400466 (May 21, 2014) Utility Model Content

[0008] Problems to be solved by utility models

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

[0010] This manual is not limited to the issues mentioned above; other issues not mentioned can be clearly understood from the following description.

[0011] means for solving problems

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

[0013] The control unit calculates a first deviation and a second deviation. The first deviation is the deviation of the speed at which the first arm massage unit and the second arm massage unit move in a first direction from one end to the other end, and the second deviation is the deviation of the speed at which they move in a second direction from the other end to one end. The control unit uses the first deviation and the second deviation to control the movement speed of the arm massage unit in each direction.

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

[0015] The control unit calculates the movement speed of the first arm massage unit and the second arm massage unit within a preset movement range.

[0016] The control unit extracts the moving distance of the first arm massager and the second arm massager according to a preset time interval and calculates the moving speed.

[0017] It also includes a memory that stores information related to the first deviation and the second deviation;

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

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

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

[0021] When the first arm massage unit and the second arm massage unit move in the first direction, the control unit controls the arm massage unit with a relatively slower movement speed to move quickly to the same degree as a portion of the first correction value, and controls the arm massage unit with a relatively faster movement speed to move slowly to the same degree as the remaining portion of the first correction value; when the first arm massage unit and the second arm massage unit move in the second direction, the control unit controls the arm massage unit with a relatively slower movement speed to move slowly to the same degree as a portion of the second correction value, and controls the arm massage unit with a relatively faster movement speed to move slowly to the same degree as the remaining portion of the second correction value.

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

[0023] When the movement speed of the at least one arm massage unit is controlled such that the deviation has a value within a preset deviation range, the control unit sets the movement speed of the controlled first arm massage unit and the second arm massage unit to a basic movement speed.

[0024] When the first arm massage unit and the second arm massage unit are controlled to move in an action according to any massage mode, the control unit controls the first arm massage unit and the second arm massage unit to move at the basic moving speed; the control unit controls the first arm massage unit and the second arm massage unit to have values ​​within a preset moving speed range.

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

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

[0027] Includes: an arm massager actuator that moves the arm massager via a motor drive; and an encoder that senses the rotation of the motor;

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

[0029] Other specific details of this utility model are included in the detailed description and accompanying drawings.

[0030] Effects of the utility model

[0031] According to one aspect of this specification, in the manufacturing process of the massage device, the control unit can be calibrated so that the moving speed of the arm massage units arranged on both sides of the body massage unit has a value within a preset deviation range.

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

[0033] The effects of this utility model are not limited to those mentioned above. Those skilled in the art can clearly understand other effects not mentioned from the following description. Attached Figure Description

[0034] Figure 1 This is a diagram illustrating a massage device according to one embodiment of this specification.

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

[0036] Figure 3 This is an exploded view showing a portion of a massage device according to an embodiment of this specification.

[0037] Figure 4 This is a diagram illustrating the main framework of one embodiment of this specification.

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

[0039] Figure 6 This is a diagram illustrating an example of a change in posture of the massage device described in this instruction manual.

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

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

[0042] Figure 9 yes Figure 7 The image shows a partial exploded 3D view of the arm massage area.

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

[0044] Figure 11 This is a diagram of the sensor section of the arm massage section of a massage device used to illustrate an embodiment of this specification.

[0045] Figure 12 This diagram illustrates the connection between the arm massage section and the body massage section of the massage device described in this manual.

[0046] Figure 13 It is used for explanation Figure 12 The diagram shows the joint structure and assembly method of the joint.

[0047] Figure 14 This is a flowchart of an embodiment of the arm massage part alignment and movement algorithm in this specification.

[0048] Figure 15 This is a flowchart illustrating the basic movement speed setting of one embodiment of this specification.

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

[0050] Figure 17 This is a diagram illustrating the process of calculating the first deviation according to another embodiment of this specification.

[0051] Figure 18 This is a diagram illustrating the process of calculating the first deviation according to yet another embodiment of this specification.

[0052] Figure 19 This is a diagram illustrating an example of counting the rotation values ​​of the arm massage unit actuator motor as the first arm massage unit and the second arm massage unit move in a first direction.

[0053] Figure 20 This is a diagram illustrating the process of calculating the second deviation according to one embodiment of this specification.

[0054] Figure 21 This is a diagram illustrating the process of calculating the second deviation according to another embodiment of this specification.

[0055] Figure 22 This is a diagram illustrating the process of calculating the second deviation according to yet another embodiment of this specification.

[0056] Figure 23 This is a diagram illustrating an example of counting the rotation values ​​of the arm massage unit actuator motor as the first arm massage unit and the second arm massage unit move in the second direction.

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

[0058] Figure 25 This is a flowchart of part of the movement speed control in one embodiment of this specification.

[0059] Explanation of reference numerals in the attached figures

[0060] 100: Massage device; 300: Control unit

[0061] 1000: Body Massage Section 1000a: Back

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

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

[0064] 1200: Body frame; 1210: Back frame

[0065] 1250: Seat frame; 1300: Base frame

[0066] 1302: Combined frame; 1320: Support shaft frame

[0067] 1303: First fastening port; 1304: Second fastening port

[0068] 1310: First insertion bracket; 1311: First mating groove

[0069] 1322: Rear surface fastening hole; 1315: Fastening component

[0070] 1315a: Fastening part; 1315b: Enlarged diameter part

[0071] 1315c: Head; 1610: Sliding actuator

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

[0073] 1640: Leg angle actuator; 2000: Leg massage unit

[0074] 2000a: First Leg Massage Department

[0075] 2000b: Second Leg Massage Section

[0076] 3000: Arm Massage Section 3000a: First Arm Massage Section

[0077] 3000b: Second arm massage section; 3100: Arm massage delivery section

[0078] 3110: Arm receiving section; 3112a: First arm airbag

[0079] 3112b: Second arm airbag; 3107: Lower surface of arm massage area.

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

[0081] 3106: Back surface of the arm massage area

[0082] 3108: Front surface of the arm massage area

[0083] 3200: Support part; 3203: Inner surface of the support part

[0084] 3205: Connecting protrusion; 3205a: Recess

[0085] 3206: Second insertion bracket; 3206a: Second mating groove

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

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

[0088] 3311: Lower part; 3312: Upper part

[0089] 3315: First support; 3320: Arm massage actuator

[0090] 3323: Rod; 3330: Guide rail

[0091] 3340: Conductor block 3401: First sensor

[0092] 3402: Second sensor; 3403: Third sensor

[0093] P1, P2: Front joint

[0094] P3: Middle joint P4: Rear joint Detailed Implementation

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

[0096] The objectives, features, and advantages of this specification become clearer through the following embodiments related to the accompanying drawings. The specific structures and functional descriptions below are merely illustrative of embodiments based on the concepts of this disclosure. These embodiments can be implemented in various ways and should not be construed as limited to the embodiments described in this specification or application.

[0097] Based on the embodiments of the concepts in this specification, various modifications and arrangements can be made, and therefore specific embodiments are shown in the accompanying drawings and described in detail in this specification or application. However, this is not intended to limit the embodiments of the concepts in this disclosure to the specific manner of disclosure, but should be understood to include all modifications, equivalents, and substitutions contained within the spirit and technical scope of this disclosure.

[0098] While terms such as "first" and "second" can be used to describe various constituent elements, the constituent elements are not limited to these terms. These terms are used only to distinguish one constituent element from another; for example, without departing from the scope of this disclosure, a first constituent element may be named a second constituent element, and similarly, a second constituent element may be named a first constituent element.

[0099] When a constituent element is "connected" or "combined" to another constituent element, it should be understood that it can be directly connected or combined to the other constituent element, and other constituent elements may exist between them. Conversely, when a constituent element is "directly connected" or "directly combined" to another constituent element, it should be understood that no other constituent elements exist between them. Other expressions used to describe the relationship between constituent elements, such as "located between" and "between" or "adjacent to" and "directly adjacent to," should also be interpreted in the same way.

[0100] The terminology used in this specification is for illustrative purposes only and is not intended to limit the scope of this disclosure. Unless the context clearly specifies otherwise, singular expressions include plural expressions. Terms such as "comprising" or "having" in this specification are used to specify the presence of the described features, numbers, steps, actions, constituent elements, components, or combinations thereof, and do not presuppose the presence or additional possibilities of one or more other features, numbers, steps, actions, constituent elements, components, or combinations thereof.

[0101] Unless otherwise defined, all terms used herein, including technical and scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art. Predefined terms of common use shall be interpreted as having the meaning consistent with their meaning in the context of the relevant art, and shall not be construed as having an ideal or overly formal meaning unless expressly defined in this specification.

[0102] In this specification, an actuator refers to a structure capable of providing driving force. For example, an actuator may include, but is not limited to, a motor, a linear motor, an electric motor, a direct current (DC) motor, an alternating current (AC) motor, a linear actuator, an electric actuator, etc.

[0103] In this specification, according to one embodiment, a massage device may refer to a massage device that includes a body massage section and a leg massage section. Alternatively, according to another embodiment, the body massage section and the leg massage section may exist as separate, independent devices (e.g., a body massage device and a leg massage device), and the massage device may refer to either a body massage device or a leg massage device.

[0104] When describing each part of the massage device according to embodiments of this specification, the orientation is defined based on the view of a user sitting on the massage device. For example, the leg massage section is located in front of the body massage section.

[0105] Figure 1 This is a diagram illustrating a massage device according to one embodiment of this specification.

[0106] A massage device 100 according to an embodiment of this specification includes at least some or all of the following: a body massage section 1000, which forms an area for accommodating at least a portion of a user's body and massages the user's body; a leg massage section 2000, which massages the user's legs; and an arm massage section 3000, which massages the user's arms.

[0107] The body massage unit 1000 is capable of providing massage to at least a part of a user's body. To this end, the body massage unit 1000 may include a main frame 1100 constituting the skeleton of the body massage unit 1000 and a massage module 1700 that provides massage function to at least a part of the user's body. Additionally, the body massage unit 1000 may include: an audio output module 1500 providing audio output of any form to the user; and an input unit 350 for receiving input of any form from the user.

[0108] The structures of the body massage unit 1000 described above are merely exemplary embodiments. In addition to the aforementioned structures, the body massage unit 1000 may also include various other structures.

[0109] In addition, such as Figure 1 The shape and structure of the massage device 100 shown are merely examples. Various forms of massage devices 100 should also fall within the scope of this specification without departing from the scope of the claims.

[0110] The body massage unit 1000 can be formed into a space of any shape to accommodate the user. The body massage unit 1000 can have a space that corresponds to the shape of the user's body. For example, as... Figure 1 As shown, the body massage unit 1000 can be implemented in a seated form that can accommodate the user's whole body or part of the body. The body massage unit 1000 includes a backrest 1000a that accommodates the user's upper body, including the user's back, and a seat 1000b that supports the user's buttocks.

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

[0112] At least a portion of the body massage unit 1000 is slidable. For example, when the body massage unit 1000 begins to massage, at least a portion of the body massage unit 1000 can slide forward. Additionally, the body massage unit 1000 can tilt backward. As a result, the body massage unit 1000 can provide massage while tilted backward.

[0113] According to an embodiment of the present specification, the massage device 100 may include at least one airbag. The airbag may be located in the shoulder part, pelvic part, leg massage part 2000, arm massage part 3000, etc. of the user, but is not limited thereto, and may be arranged in multiple parts of the massage device 100.

[0114] The massage device 100 may include an air supply unit that can supply air to the airbag to inflate the airbag. The air supply unit may be located inside the body massage part 1000 or in the leg massage part 2000. Additionally, the air supply unit may also be located outside the massage device 100.

[0115] The arm massage part 3000 located on both sides of the body massage part 1000 is provided with an arm receiving groove 3110 in the shape of a "匚" - shaped groove so that the user can comfortably place their arms in a sitting state and receive massage. Airbags may be provided on the upper and lower sides of the arm receiving groove to perform massage by applying downward and / or upward pressure to the user's arms.

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

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

[0118] The leg massage part 2000 can adjust its length according to the user's body characteristics. For example, when a tall user uses the massage device 100, since the user's calf length is long, the length of the leg massage part 2000 needs to be lengthened. Additionally, when a short user uses the massage device 100, since the user's calf length is short, the leg massage part 2000 needs to be shortened. Therefore, the leg massage part 2000 can provide leg massage that matches the user's height.

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

[0120] The first leg massage unit 2000a and the second leg massage unit 2000b each include a calf massage unit and a foot massage unit. Therefore, the length of the leg massage unit can be adjusted independently in both the first leg massage unit 2000a and the second leg massage unit 2000b, and foot massage can be provided. For this purpose, the first leg massage unit 2000a and the second leg massage unit 2000b each include a leg length actuator and a foot massage module.

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

[0122] Hereinafter, "leg massage unit 2000" may refer to the first leg massage unit 2000a, the second leg massage unit 2000b, or both leg massage units, and may also refer to an integrated leg massage unit 2000 in which the first leg massage unit 2000a and the second leg massage unit 2000b are connected as one unit. Unless it is necessary to distinguish between the first leg massage unit 2000a and the second leg massage unit 2000b, it will be referred to as "leg massage unit 2000".

[0123] The massage module 1700 can be disposed inside the body massage unit 1000 to provide any form of mechanical stimulation to the user accommodated in the body massage unit 1000. The massage module 1700 can move along the main frame 1100 disposed inside the body massage unit 1000.

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

[0125] The main frame 1100 forms the internal structure of the body massage part 1000 and can be made of materials such as metal or plastic. For example, the main frame 1100 can be made of iron, alloy, steel, etc., but is not limited to these, and can also be made of various sturdy materials.

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

[0127] According to one embodiment of this specification, a user can control the massage device 100 using a massage device control device 4000. The massage device control device 4000 can be connected to the massage device 100 via wired and / or wireless communication.

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

[0129] Figure 2 This is a block diagram of a massage device according to an embodiment of this specification.

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

[0131] The control unit 300 may include at least one processor and a memory. When the control unit 300 includes multiple processors, at least some of the multiple processors may be located at physically spaced distances from each other. Furthermore, the massage device 100 may be implemented in various ways, without limitation.

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

[0133] For example, the control unit 300 controls the movement of the actuator in the massage module 1700, enabling the massage module 1700 to move along a rack. The massage module 1700 may include at least one actuator, and the control unit 300 can provide various massage actions by activating at least one actuator. For example, the control unit 300 can provide tapping massage, kneading massage, etc., by activating at least one actuator in the massage module 1700, and is not limited to this; various massage actions can be provided.

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

[0135] In addition, the length of the leg massage unit 2000 can be adjusted to match the user by moving the leg length adjustment actuator, so that the user can enjoy a massage that matches their body shape.

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

[0137] The memory 330 can be implemented using a non-volatile storage medium capable of continuously storing arbitrary data. For example, the memory 330 may include, but is not limited to, disks, optical disks, and magneto-optical storage devices, as well as storage devices based on flash memory and / or battery-backed storage.

[0138] The memory 330 can be a main storage device directly accessed by the processor, such as a random access memory (RAM) like dynamic random access memory (DRAM) or static random access memory (SRAM), or a volatile storage device whose stored information is instantly deleted when the power is cut off, but it is not limited to these. This memory 330 can be operated by the control unit 300.

[0139] The massage device 100 may include a sensor unit 310. The sensor unit 310 can acquire various types of information by using at least one sensor. The sensor unit 310 may be configured to use sensors that employ measurement units such as pressure, potential, and optics. For example, the sensor may include a pressure sensor, an infrared sensor, an LED sensor, a touch sensor, etc., but is not limited to these.

[0140] Additionally, the sensor unit 310 may include a biometric information acquisition sensor. This biometric information acquisition sensor may acquire fingerprint information, facial information, voice information, iris information, weight information, electrocardiogram information, body composition information, etc., but is not limited to these, and may include various types of biological information.

[0141] According to one embodiment of this specification, the massage device 100 can sense the contact area and / or contact position with the user via the sensor unit 310. Additionally, the massage device 100 can acquire the user's shoulder position information via the sensor unit 310. Shoulder position sensing can acquire body information such as the user's sitting height. Furthermore, the massage device 100 can provide personalized massage based on the acquired information. For example, when the massage device 100 provides a shoulder massage, it identifies the user's shoulder position based on the information acquired via the sensor unit 310 and can provide a shoulder massage to the user based on the identification result.

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

[0143] Wireless connectivity technologies include, for example, Wireless LAN (WLAN) (Wi-Fi), Wireless broadband (Wibro), World Interoperability for Microwave Access (WiMAX), and High Speed ​​Downlink Packet Access (HSDPA).

[0144] Wired connection technologies include, for example, Digital Subscriber Line (xDSL), Fiber to the Home (FTTH), and Power Line Communication (PLC). Additionally, the network connection unit includes a short-range communication module, enabling the sending and receiving of data with any device / terminal located in close proximity. Examples of short-range communication technologies include, but are not limited to, Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), and ZigBee.

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

[0146] Specifically, the input unit 350 can receive commands related to the motion control of the massage device 100 from the user. The input unit 350 can be implemented in various forms. For example, the input unit 350 can be provided in the body massage unit 1000, or in the leg massage unit 2000, but is not limited thereto. Furthermore, the input unit 350 may include... Figure 1 The massage device 100 can be controlled by a massage device control unit 4000 or various external devices. The massage device 100 can receive various commands from the user via the input unit 350. For example, the massage device 100 can receive any command regarding the selection of massage module, massage type, massage intensity, massage time, massage area, position and operation of the body massage unit 1000, on / off power supply of the massage device 100, whether to activate the heating function, and audio playback, etc., but is not limited to these.

[0147] The massage device 100 can provide an interface for selecting massage modes. For example, the input unit 350 or the output unit may include a massage device control device 4000. The massage device control device 4000 can list a variety of medical massage modes related to physical improvement.

[0148] Medical massage modes may include at least one of the following: concentration mode, meditation mode, recovery mode, stretching mode, sleep mode, vitality mode, golf mode, hip shaping mode, exam mode, weightlessness mode, and growth mode.

[0149] Stretching modes may include PNF stretching mode, rolling stretching mode, etc.

[0150] According to another embodiment of this specification, the input unit 350 may have buttons in the form of hot keys and / or option buttons for selecting, canceling, or inputting execution directions, based on preset user settings or self-preset functions. The input unit 350 may be implemented as a touchscreen, keyboard, dome switch, touchpad (static / electrostatic), rotary dial, momentary switch, etc., but is not limited to these. Furthermore, the input unit 350 may be based on voice recognition technology to obtain commands based on the user's voice.

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

[0152] The output unit may include an audio output unit 340. The audio output unit 340 can provide audio output of any form to the user via the audio output module 1500. The audio output unit 340 may include the audio output module 1500. For example, the audio output unit 340 can output to the user, via the audio output module 1500, the optimal sound source and / or binaural beats for the massage method provided by the massage device 100, thereby providing brain stimulation to the user. The audio output unit 340 can output audio signals received via a network (not shown) or stored in internal / external storage media (not shown). For example, the audio output unit 340 can output sound sources controlled by the user terminal via a network connection (e.g., Bluetooth connection, etc.). Additionally, the audio output unit 340 can output audio signals of any form that occur in association with the operation of the massage device 100.

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

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

[0155] Computer-readable storage media include volatile and non-volatile media, transient and non-transient media, and removable and non-removable media used for storing computer-readable instructions, data structures, program modules, or other data, which can be embodied by some method or technique. Computer-readable storage media may include, but are not limited to, RAM, ROM, EEPROM, flash memory or other storage technologies, CD-ROM, digital video disk (DVD) or other optical disc storage devices, cassette tape, magnetic tape, disk storage devices or other magnetic storage devices, or any other medium accessible by a computer and used to store the required information.

[0156] Figure 3 This is an exploded view illustrating a portion of a massage device according to an embodiment of this specification. Figure 4 This is a diagram illustrating the main framework of one embodiment of this specification.

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

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

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

[0160] According to one embodiment of this specification, the main frame 1100 may further include a bottom base frame 1380 that slidably supports the base frame 1300. Thus, the base frame 1300 can be configured to support the body frame 1200 and be able to move forward or backward relative to the ground.

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

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

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

[0164] The base frame 1300 may have a support shaft frame 1320 extending along its upper end. The support shaft frame 1320 is connected to the seat frame 1250 by means of pins or the like, thereby serving as a support shaft for the seat frame 1250 to rotate forward or backward relative to the base frame 1300.

[0165] Additionally, the support shaft frame 1320 can be used as a joint where the arm massage part 3000 is attached to the base frame 1300.

[0166] The leg massage unit 2000 is rotatably connected to the front of the base frame 1300 in the up-down direction.

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

[0168] At least a portion of the body frame 1200 may be provided with a rack 1211. The rack 1211 is a component for guiding the up-and-down movement of the massage module and may include multiple valleys and multiple spines.

[0169] The rack 1211 can be arranged in an opposing manner on the body frame 1200. The massage module can move along the rack 1211. For example, the massage module may include a gear meshing with the rack 1211, the gear being rotated by an actuator disposed on the massage module, thereby enabling the massage module to move up or down.

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

[0171] According to one embodiment of this specification, the seat frame 1250 and the backrest frame 1210 are formed by separate frames and can be configured such that one end of each is adjacent to the other. The seat frame 1250 and the backrest frame 1210 are formed by separate frames and are movably coupled to each other, thereby facilitating adjustment of the angle between the seat frame 1250 and the backrest frame 1210. Movement of the backrest frame 1210 corresponds to movement of the backrest 1000a, and movement of the seat frame 1250 corresponds to movement of the seat portion 1000b.

[0172] The back frame 1210 may include a skeleton forming the back 1000a and a rack support frame 1220 supporting the rack 1211 and extending along the length direction.

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

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

[0175] Additionally, the seat frame 1250 can be rotatably connected relative to the base frame 1300 and / or the back frame 1210. Therefore, when the massage device 100 switches positions between a sitting mode and a reclining mode, the angle between the back frame 1210 and the seat frame 1250 can be adjusted.

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

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

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

[0179] Hereinafter, unless it is necessary to distinguish between the first arm massage unit 3000a and the second arm massage unit 3000b, the structure will be described using terms such as arm massage unit 3000, support unit 3200 and arm massage providing unit 3100.

[0180] Figure 5 This diagram illustrates the connection relationships of the actuators for adjusting the seat angle, back angle, and leg angle in a massage device according to an embodiment of this specification.

[0181] The seat angle can be defined as the angle formed by the seat frame relative to the ground, the back angle can be defined as the angle formed by the back frame relative to the ground, and the leg angle can be defined as the angle formed by the leg massage area relative to the ground.

[0182] Figure 5 Parts (a), (b), and (c) show the seat angle actuator, back angle actuator, and leg angle actuator, respectively.

[0183] A massage device 100 according to one embodiment of this specification includes a plurality of actuators to provide a variety of massage modes and / or stretching modes.

[0184] According to one embodiment of this specification, a massage device 100 may include a sliding actuator 1610 for adjusting the sliding of the massage device 100 (see reference 1610). Figure 4 ).

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

[0186] According to one embodiment of this specification, a massage device 100 may include a seat angle actuator 1620 to adjust the angle of the seat portion 1000b.

[0187] Reference Figure 5In part (a), the seat angle actuator 1620 can be connected between the base frame 1300 and the seat frame 1250. One end of the seat angle actuator 1620 is connected through the base frame 1300, and the other end is connected to the seat frame 1250. The seat angle actuator 1620 causes the seat frame 1250 to move relative to the base frame 1300 in the fore-and-aft direction, thereby adjusting the tilt angle of the seat frame 1250 and the seat portion 1000b supported on the seat frame 1250.

[0188] According to one embodiment of this specification, a massage device 100 may include a back angle actuator 1630 to adjust the angle of the back 1000a.

[0189] Reference Figure 5 In part (b), the backrest angle actuator 1630 can be connected between the seat frame 1250 and the backrest frame 1210. One end of the backrest angle actuator 1630 is connected through the seat frame 1250, and the other end is connected to the backrest frame 1210. The backrest angle actuator 1630 causes the backrest frame 1210 to move relative to the seat frame 1250 in the fore-and-aft direction, thereby adjusting the angle between the backrest frame 1210 and the backrest 1000a supported on the backrest frame 1210.

[0190] According to one embodiment of this specification, a massage device 100 may include a leg angle actuator 1640 to adjust the angle of the leg massage section 2000.

[0191] Reference Figure 5 In part (c), the leg angle actuator 1640 can be disposed between the seat frame 1250 and the leg massage unit 2000.

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

[0193] When the leg angle actuator 1640 extends, the leg angle adjustment part 2110 rotates upward around the hinge connection part, and the wheel at the other end pushes the leg massage part 2000 upward. When the leg angle actuator 1640 retracts, the leg angle adjustment part 2110 rotates downward, and the leg massage part 2000 descends while in contact with the leg angle adjustment part 2110. As described above, the leg angle actuator 1640 adjusts the angle of the leg massage part 2000 by moving the leg angle adjustment part 2110 to rotate the leg massage part 2000 in the vertical direction.

[0194] According to the massage device described in this specification, it is not excluded that one end of the leg angle actuator 1640 is connected to the base frame 1300. However, according to one embodiment of this specification, when the leg angle actuator 1640 is disposed between the seat frame 1250 and the leg angle adjustment part 2110, since the adjustment angle of the seat frame 1250 and the angle adjusted by driving the leg angle adjustment part 2110 are added together, thereby adjusting the angle of the leg massage part 2000, it is easy to increase the angle of raising the leg massage part 2000 when the posture is switched to the tilt mode.

[0195] In an embodiment where the leg massage unit 2000 includes a first leg massage unit 2000a and a second leg massage unit 2000b that are physically separate and operate independently, the leg angle actuator 1640 is provided in a one-to-one correspondence with the first leg massage unit 2000a and the second leg massage unit 2000b, and is controlled individually.

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

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

[0198] Figure 6 This is a diagram illustrating an example of a change in posture of the massage device described in this instruction manual.

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

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

[0201] For example, the massage device 100 can slide forward. Before the massage device 100 changes its posture to a tilted mode, it can slide forward to prevent it from colliding with structures behind it.

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

[0203] According to one embodiment of this specification, when the massage device 100 changes from a seated mode to a tilted mode, the back frame 1210 supports the back 1000a and lays flat towards the ground, the seat frame 1250 supports the seat part 1000b and lifts it relative to the ground, and the leg massage part 2000 lifts it relative to the ground.

[0204] In addition, in the arm massage unit 3000, the arm massage providing unit 3100 is tilted backward relative to the support unit 3200.

[0205] In this specification, the front or back direction is... Figure 6 The direction shown is the reference.

[0206] Figure 7 This diagram illustrates the structure and operation of the independent movement of the arm massage section of a massage device according to an embodiment of this specification. Figure 8 This is a diagram showing the inner surface of the arm massage providing part of a massage device according to an embodiment of this specification. Figure 9 yes Figure 7 The image shown is a partial exploded 3D view of the arm massage area. Figure 10 This is a component diagram of the arm massage section drive module of a massage device according to an embodiment of this specification.

[0207] An arm massage unit 3000 is provided on the side of the body massage unit 1000. The arm massage unit 3000 is provided for fixing the user's arm and / or providing massage to the user's arm.

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

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

[0210] The arm massage unit drive module 3300 provides a moving force that allows the arm massage unit 3100 to move independently relative to the support unit 3200.

[0211] Reference Figure 6 In the seated mode (left side) of the massage device 100, the position of the arm massage provider 3100 is referred to as the first position, and in the tilted mode (right side) of the massage device 100, the position of the arm massage provider 3100 is referred to as the second position. The second position is a position where the arm massage provider 3100 is moved backward and tilted relative to the first position, causing the position of the arm massage provider 3100 to decrease. As described above, the arm massage provider 3100 can be tilted downward relative to the support 3200 from the first position to the second position.

[0212] An arm accommodation groove 3110 for inserting a user's arm is formed in the arm massage providing unit 3100 (refer to Figure 8 ). An arm airbag 3112 for fixing the user's arm is provided in the arm accommodation groove 3110. The arm accommodation groove 3110 is formed as a "匚"-shaped groove that opens toward the inner surface 3103 of the arm massage providing unit 3100. The arm airbag 3112 can be inflated by the airbag supply unit to fix the user's arm or repeatedly inflated or deflated to provide massage.

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

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

[0215] The upper surface 3210 of the support unit 3200 is formed as a downward inclined surface that slopes downward and backward, and the lower surface 3107 of the arm massage providing unit 3100 is formed to be inclined corresponding to the downward inclined upper surface 3210. The arm massage providing unit 3100 moves obliquely along the upper surface 3210 of the downward inclined support unit.

[0216] The arm massage unit driving module 3300 is configured to support the arm massage providing unit 3100 movably relative to the support unit 3200 and provide a moving force.

[0217] The arm massage unit driving module 3300 may include at least a part or all of an arm massage unit actuator 3320, a support plate 3310, a guide rail 3330, and a guide block 3340 (refer to Figure 10 ).

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

[0219] The arm massage unit actuator 3320 may be connected parallel to the moving direction of the arm massage providing unit 3100, for example, the inclined moving direction, such that the movement of the arm massage providing unit 3100 is performed along a movement path parallel to the expansion and contraction direction of the arm massage unit actuator 3320.

[0220] According to one embodiment of this specification, the arm massage actuator 3320 is disposed inside the arm massage providing part 3100.

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

[0222] The support plate 3310 physically connects the arm massage actuator 3320, which is disposed inside one of the arm massage providing part 3100 and the support part 3200, to the other of the arm massage providing part 3100 and the support part 3200, which are separated from each other, thereby supporting the movement of the arm massage providing part 3100 relative to the support part 3200.

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

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

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

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

[0227] According to one embodiment of this specification, the lower portion 3311 of the support plate 3310 can extend into and be fixed to the support portion 3200. A lower frame 3204 is fixed to the main body 3202 of the support portion 3200, which is formed from injection-molded material, and the lower portion 3311 of the support plate 3310 is fixed to the lower frame 3204. This structure facilitates the assembly of the arm massage portion 3000, including the assembly of the support plate 3310, and the support plate 3310 supports the load of the arm massage providing portion 3100.

[0228] The upper portion 3312 of the support plate 3310 can be supported so that it can move relative to the arm massage providing portion 3100. According to one embodiment of this specification, the support plate 3310 can support the arm massage providing portion 3100 relatively movably, specifically, the guide rail 3330.

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

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

[0231] When the arm massage actuator 3320 is activated, the lever 3323 is pulled out, and the arm massage actuator 3320 extends with reference to the support plate 3310 fixed at one end. The other end of the arm massage actuator 3320, which is fixed to the second bracket 3105, pulls the arm massage providing part 3100. Therefore, a tilting force is provided to the arm massage providing part 3000. Thus, the arm massage providing part 3100 can tilt and move along the extension direction of the arm massage actuator 3320. Since the support plate 3310 is fixed to the support part 3200, the arm massage providing part 3100 can move relative to the support part 3200.

[0232] According to one embodiment of this specification, a guide rail 3330 is disposed on the arm massage providing part 3100 and is movably connected to one side of the arm massage part actuator 3320. The guide rail 3330 guides the arm massage providing part 3100 to move relative to the support part 3200.

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

[0234] The second bracket 3105, which is coupled to the other end of the arm massage actuator 3320, is configured on the rear side of the guide rail 3330, spaced apart from the guide rail 3330.

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

[0236] According to one embodiment of this specification, one side of the arm massage actuator 3320 is connected to the guide rail 3330 via a support plate 3310. However, it is not limited to this; for example, the support plate 3310 is fixed to the main body located on one side of the arm massage actuator 3320, and the other end of the arm massage actuator 3320 can be directly connected to the guide rail 3330 in a relatively movable manner.

[0237] Referring to the accompanying drawings, an embodiment in which one side of the arm massage actuator 3320 is connected to the guide rail 3330 via a support plate 3310 will be described.

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

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

[0240] The guide block 3340 attached to the support plate 3310 guides the movement of the guide rail 3330. For this purpose, the guide block 3340 is inserted to allow relative movement of the guide rail 3330. Therefore, the guide rail 3330 can move while supported by the guide block 3340.

[0241] The guide block 3340 is formed to fit into the track protrusions 3331 that protrude from the upper and lower parts of the guide rail 3330 toward the support plate 3310. In the guide block 3340, the upper guide block and the lower guide block form a guide block unit.

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

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

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

[0245] Reference Figure 10 As can be seen, the four guide blocks 3340 form two guide block units and are spaced apart along the length of the guide rail 3330. When at least two guide block units are provided, even if a lateral load is generated on the arm massage providing part 3100, the support plate 3310 and the guide rail 3330 remain parallel to each other, thereby helping to prevent wobbling.

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

[0247] According to one embodiment of this specification, when the arm massage actuator 3320 is driven by a motor to pull the rod 3323 outward, thereby extending the arm massage actuator 3320, the guide rail 3330 moves while supporting the arm massage providing part 3100. The guide rail 3330 is supported and moves by the guide block 3340 of the support plate 3310. That is, when the arm massage actuator 3320 extends, the guide rail 3330 moves, thereby guiding the movement of the arm massage providing part 3100.

[0248] The arm massage actuator 3320 is controlled by the control unit 300. Furthermore, an encoder for detecting the rotation of the motor can be installed in the arm massage actuator 3320. Therefore, the control unit 300 can control the arm massage actuator 3320 simultaneously by detecting its extension and retraction length, speed, etc.

[0249] The movement of the arm massage provider 3100 is determined by the extension direction of the arm massage actuator 3320 and the extension direction of the guide rail 3330, and the arm massage provider 3100 can be supported by the connection between the guide rail 3330 and the support plate 3310. Since the support plate 3310 supports the load of the arm massage provider 3100, the load can be distributed even if the support portion 3200 is not in direct contact with the arm massage provider 3100 or is in direct contact with it. Therefore, the entire load of the arm massage provider 3100 is applied between the upper surface 3210 of the support portion 3200 and the lower surface 3107 of the arm massage provider 3100, and noise and appearance damage can be minimized compared to the case where movement is guided by direct contact.

[0250] The arm massage unit 3000 according to this specification includes a first arm massage unit 3000a disposed on one side of the body massage unit and a second arm massage unit 3000b disposed on the other side of the body massage unit (see reference). Figure 3 ).

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

[0252] The independent movement of the arm massage unit 3100 according to this instruction manual, i.e., the movement control, enables the execution of various massage or stretching modes.

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

[0254] Therefore, taking a stretching motion as an example, the arm airbag 3112 of the arm receiving groove 3110 can inflate and fix the user's arm. In this state, when the posture changes to a tilting mode, causing the back 1000a to rotate backward and downward, the arm receiving groove 3110 can remain in a state where the user's arm is fixed. Thus, the user's back is separated from the back 1000a, and the arm is in a pulled state. This allows for arm stretching movements.

[0255] After performing the predetermined arm stretching action, when the arm massage providing part 3100 moves backward and downward relative to the support part 3200, that is, when the arm massage providing part 3100 moves from the first position to the second position, the user's back can rest against the backrest 1000a again. As the user's shoulders descend in the tilt mode of the backrest 1000a, the user's arms move backward and to a lower position, thus achieving an overall comfortable position.

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

[0257] Furthermore, according to one embodiment of this specification, the movement of the arm massage providing unit 3100 relative to the support unit 3200 is associated with the length and angle adjustment movement of the first leg massage unit 2000a and the second leg massage unit 2000b, and can operate independently to achieve various movement modes. For example, when the first leg massage unit 2000a and the second leg massage unit 2000b of the leg massage unit 2000 are adjusted to different lengths and different leg angles in a walking mode, the first arm massage providing unit 3100a and the second arm massage providing unit 3100b are associated with the movement of the first leg massage unit 2000a and the second leg massage unit 2000b and can move independently, thereby achieving a movement more suitable for the walking mode.

[0258] Figure 11 This is a diagram of the sensor section of the arm massage section of a massage device used to illustrate an embodiment of this specification.

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

[0260] When the arm massage providing part 3100 moves relative to the body massage part 1000 and / or the support part 3200, a jamming accident may occur between the arm massage providing part 3100 and the body massage part 1000 and / or the support part 3200. The jamming accident may occur because the user's body, clothing or other objects get stuck between the arm massage providing part 3100 and other parts.

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

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

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

[0264] A first sensor 3401 is disposed on the rear surface 3106 of the arm massage providing part 3100 facing inward toward the upper body 3102. The first sensor 3401 may be a contact detection sensor that detects object contact to prevent collision accidents, and it is formed as an electrostatic sensor.

[0265] The first sensor 3401 extends in a partially curved shape corresponding to the ribs used to reinforce the upper body 3102 so as not to interfere with the ribs, and can be configured inside the upper body 3102 in a manner that contacts the rear surface 3106 of the arm massage providing part 3100. Although ribs are formed to reinforce the arm massage providing part 3100, the first sensor 3401 can be configured to contact the inner side of the rear surface 3106.

[0266] The first sensor 3401 detects contact with an object on the rear surface 3106 of the arm massage providing part 3100, thereby preventing accidents caused by collisions. When an object is present in the arm massage providing part 3100 while it is tilted downward relative to the support part 3200, the first sensor 3401 detects the static electricity of the object, and the massage device 100 can stop operating and output a warning sound.

[0267] The second sensor 3402 is configured to detect an object stuck between the inclined surface forming the lower surface 3107 and the inclined surface forming the upper surface of the support portion 3200 on the lower side of the arm massage providing portion 3100. The second sensor 3402 can be formed as an electrostatic sensor. The second sensor 3402 is configured to contact the lower surface 3107 on the inner side of the upper body 3102 of the arm massage providing portion 3100. The second sensor 3402 can be configured on the rear portion of the lower surface 3107 of the arm massage providing portion 3100. When the arm massage providing portion 3100 moves downward relative to the support portion 3200, an object is detected stuck between the inclined surfaces of the arm massage providing portion 3100 and the support portion 3200 along the movement path of the arm massage providing portion 3100. Similar to the first sensor 3401, the second sensor 3402 can extend in a shape that partially bends to correspond to the ribs used to reinforce the upper body 3102 so as not to interfere with the ribs. Therefore, although a rib for reinforcement is formed on the lower surface 3107 of the arm massage providing part 3100, the second sensor 3402 can be configured to contact the inside of the rear surface 3107.

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

[0269] Figure 12This diagram illustrates the connection between the arm massage section and the body massage section of the massage device described in this manual. Figure 13 It is used for explanation Figure 12 The diagram shows the joint structure and assembly method of the joint. Figure 12 Part A shows the front joint. Figure 12 Part B shows the intermediate joint. Figure 12 Section C shows the rear joint.

[0270] According to one embodiment of this specification, the arm massage unit 3000 is disposed on the side of the body massage unit 1000 such that a support unit 3200 is attached to the side of the frame of the body massage unit 1000. The frame of the body massage unit 1000 may be a base frame 1300.

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

[0272] Reference Figure 12 and Figure 13 Part (a) has front joints P1 and P2 formed on the front side of the base frame 1300.

[0273] The base frame 1300 has a connecting frame 1302 on its front side, and the connecting frame 1302 extends upward. The connecting frame 1302 can form the side of the frame of the body massage part 1000.

[0274] The first fastening port 1303 and the second fastening port 1304 protrude toward the front side of the frame of the body massage part 1000, such as the base frame 1300. The first fastening port 1303 forms a front connecting portion P1 and is formed to protrude forward from the upper part of the connecting frame 1302. The second fastening port 1304 forms a front connecting portion P2 and is formed to be spaced apart from the first fastening portion 1303 and protrude forward.

[0275] A fastening hole for fastening a bolt is formed on the inner surface 3203 of the support portion 3200, corresponding to the positions of the first fastening port 1303 and the second fastening port 1304. The bolt is fastened with the first fastening port 1303 and the second fastening port 1304 aligned with the fastening hole, thereby performing the assembly of the front joint portions P1 and P2.

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

[0277] Reference Figure 12 and Figure 13In part (b), the intermediate joint P3 can be formed in the frame of the body massage part 1000, such as the middle part of the side of the base frame 1300.

[0278] A first insertion bracket 1310 is provided on the support shaft frame 1320 formed on the side of the frame of the body massage part 1000, such as the middle part of the side of the base frame 1300, facing the inner surface 3203 of the support part 3200. Correspondingly, a connecting protrusion 3205 protrudes from the middle part of the inner surface 3203 of the support part 3200.

[0279] The first insertion bracket 1310, provided in the support shaft frame 1320, has a first engaging groove 1311 that opens at its upper end. The opening of the first engaging groove 1311 is tapered, widening upwards. The two sides of the first insertion bracket 1310 are curved toward the support shaft frame 1320 of the base frame 1300. Therefore, the first insertion bracket 1310 is formed in the shape of a pocket in which the outer end of the engaging protrusion 3205 formed in the middle of the inner surface of the support portion 3200 is received.

[0280] The protrusion 3205 is formed in the middle of the inner surface of the support portion 3200 corresponding to the first insertion bracket 1310, and is inserted into the first engagement groove 1311.

[0281] The protrusion 3205 forms a recess 3205a that is partially recessed into the first engagement groove 1311. Therefore, when the protrusion 3205 is placed in the opening of the first engagement groove 1311 of the first insertion bracket 1310, the protrusion 3205 is guided to the first engagement groove 1311, and the recess 3205a engages with the inside of the first engagement groove 1311.

[0282] Reference Figure 12 and Figure 13 In part (c), the rear joint P4 is adjacent to the middle joint P3 and is formed on the rear side below the middle joint P3.

[0283] The rear joint P4 is formed from the middle of the base frame 1300 and the inner surface 3203 of the support 3200 of the body massage part 1000, and a tool is inserted from the rear of the massage device 100 to achieve final fixation, and is called the rear joint P4.

[0284] The rear joint P4 includes a fastening member 1315 and a second insertion bracket 3206 that engages with the fastening member 1315.

[0285] A rear surface fastening hole 1322 is formed on the lower rear surface of the support shaft frame 1320 of the frame of the body massage part 1000, such as the base frame 1300, and a fastening member 1315 is engaged in the rear surface fastening hole 1322.

[0286] The fastening member 1315 may include a fastening part 1315a, an enlarged diameter part 1315b, and a head 1315c. The fastening part 1315a is threaded onto a fastening hole 1322 on the rear surface.

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

[0288] The second insertion bracket 3206 protrudes from the middle of the inner surface 3203 of the support portion 3200 toward the rearward and lower part of the engagement protrusion 3205. The second insertion bracket 3206 protrudes to extend intersecting the inner surface 3203 of the support portion 3200 and has a second engagement groove 3206a for the fastening member 1315 to be inserted.

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

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

[0291] With the fastening member 1315 loosely assembled at the first fastening depth, the fastening part 1315a is inserted into the inner groove of the second mating groove 3206a of the second insertion bracket 3206, thus maintaining a loosely assembled state. Subsequently, when the fastening member 1315 is tightly fastened at the second fastening depth, the enlarged diameter part 1315b of the fastening member 1315 can penetrate deep into the inner groove of the second mating groove 3206a and be securely fixed.

[0292] Therefore, a chamfer can be formed between the enlarged diameter portion 1315b and the fastening portion 1315a of the fastening member 1315, so that the diameter gradually increases. Therefore, when the fastening member 1315 is fastened in the first fastening depth state where it is loosely assembled, it is in the second fastening depth state, and the rear joint P4 can be firmly fastened and shaking is prevented.

[0293] The following describes the assembly method of the support part 3200 and the base frame 1300 of the arm massage part 3000.

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

[0295] Because the rear joint P4 is located behind the support 3200 and the body massage unit 1000, it is difficult to assemble using simple bolt fastening. The fastening positions are difficult to visually confirm and not easy to align, thus increasing the difficulty of assembly.

[0296] According to one embodiment of this specification, firstly, at the rear joint P4 position, the fastening member 1315 is loosely assembled into the fastening hole 1322 on the rear surface of the support shaft frame 1320.

[0297] Subsequently, the insertion and assembly of the first insertion bracket 1310 and the coupling protrusion 3205 are performed at the intermediate joint P3 position, and the insertion and assembly of the second insertion bracket 3206 and the fastening member 1315 are performed at the rear joint P4 position.

[0298] At the rear joint P4 position, the fastening member 1315 is inserted into the second engagement groove 3206a of the second insertion bracket 3206 and aligned by hooking it in place. Then, using a longer tool on the rear side of the massage device 100, the fastening member 1315 is tightened to secure it at position P4. At this time, the enlarged diameter portion 1315b of the fastening member 1315 can be pressed into the second engagement groove 3206a of the second insertion bracket 3206 and securely engaged.

[0299] Since the head 1315c of the fastening member 1315 of the rear joint faces the rear of the massage device 100, the assembly of the rear joint P4 can be completed by a simple action of tightening with a longer tool.

[0300] Subsequently, at the front joints P1 and P2, the support 3200 and the front of the base frame 1300 are fixed by fastening bolts through the first fastening port 1303 and the second fastening port 1304 of the base frame 1300.

[0301] According to one embodiment of this specification, since the assembly of the second insertion bracket 3206 and the fastening member 1315 at the rear joint P4 is performed by the insertion guidance of the first insertion bracket 1310 and the coupling protrusion 3205 at the intermediate joint P3, the fastening position at the rear joint P4 is provided, that is, the engagement of the fastening member 1315 and the second insertion bracket 3206 is relatively easy.

[0302] In addition, at the rear joint P4 position, which is difficult to assemble, the fastening member 1315 can be tightened in a state where the load of the support 3200 is not concentrated on the fastening member 1315 but distributed, so tightening with tools can be performed relatively easily.

[0303] According to embodiments of this specification, in the combined structure of the base frame and the arm massage part, the structure of the arm massage providing part that moves obliquely relative to the support part is not limited, and can be applied to an arm massage part in which the arm massage providing part and the support part are fixed relative to each other.

[0304] The following describes a method for aligning and moving the first and second arm massage units, which are capable of independent, relative, and / or linked movements. Since each component of the massage device has been described above, detailed explanations are omitted in the description of the method for aligning and moving the first and second arm massage units.

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

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

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

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

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

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

[0311] Furthermore, the massage actions of the first arm massage unit 3000a and the second arm massage unit 3000b can be performed independently, relative to each other, and / or in conjunction with each other. In this case, the massage actions of the first arm massage unit 3000a and the second arm massage unit 3000b refer to the actions of the massage modules of the first arm massage unit 3000a and the second arm massage unit 3000b used to massage the user's arm. Each arm massage unit's massage module can be various massage modules such as airbags, rollers, and vibration modules, and these various massage modules can operate independently, relative to each other, and / or in conjunction with each other. The control unit 300 can control the movement of the body massage unit 1000, the first arm massage unit 3000a, and the second arm massage unit 3000b.

[0312] According to one embodiment of this specification, the control unit 300 can calculate the deviation between the moving speeds of the first arm massage unit 3000a and the second arm massage unit 3000b by moving the first arm massage unit 3000a and the second arm massage unit 3000b. In this case, the moving speed of the arm massage unit 3000 can correspond to the moving speed of the arm massage providing unit 3100.

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

[0314] As described above (refer to) Figure 7The massage device 100 may include an arm massage actuator 3320 operated by a motor to move the arm massage unit 3000, and a rotary encoder (not shown) sensing the motor. As described above, since the arm massage unit 3000 includes a first arm massage unit 3000a and a second arm massage unit 3000b, the arm massage actuator 3320 may also include a first arm massage actuator for the first arm massage unit and a second arm massage actuator for the second arm massage unit, and the encoder may also include a first encoder for the motor of the first arm massage actuator and a second encoder for the motor of the second arm massage actuator. Each arm massage actuator adjusts the length between one end and the other end of each arm massage actuator by driving the motor of each arm massage actuator, thereby moving each arm massage unit. Each encoder can sense the rotation of the motor of each arm massage actuator.

[0315] The arm massage unit 3000 may include an arm massage providing unit 3100, a support unit 3200, and an arm massage unit actuator 3320. One side of the arm massage unit actuator 3320 may be connected to the support unit 3200, and the other side may be connected to the arm massage providing unit 3100. The arm massage providing unit 3100 may slide in the front-back direction as the arm massage unit actuator 3320 extends or retracts.

[0316] According to one embodiment of this specification, the arm massage actuator 3320 pulls the rod 3323 outward by the drive of a motor, thereby extending the arm massage actuator 3320 and allowing the arm massage providing part 3100 to slide.

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

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

[0319] According to one embodiment of this specification, the arm massage actuator 3320 may be equipped with an encoder for detecting the rotation of the motor. The extension and retraction lengths of the arm massage actuator 3320 when the motor rotates once can be preset. Therefore, the control unit 300 can detect the extension and retraction lengths, speed, etc., of the arm massage actuator 3320 by using the number of motor rotations sensed by the encoder.

[0320] The control unit 300 may have a timer function to acquire the time of the massage device 100's movements. The control unit 300 can use the number of rotations of the motor and time information to calculate the moving speed of the arm massage provider 3100. In this way, the control unit 300 can align and move the first arm massage provider 3100a and the second arm massage provider 3100b by synchronizing their moving speeds.

[0321] As described above, the control unit 300 can control the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move independently, relative to each other, and / or in conjunction with each other. The first arm massage providing unit 3100a and the second arm massage providing unit 3100b can be moved by different arm massage actuators 3320. In this case, the number of motor rotations per unit time can vary depending on the motor driving each arm massage actuator 3320.

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

[0323] The control unit 300 uses the rotation information of the motor of each arm massage unit sensed by the encoder to calculate the deviation, and controls the rotation speed of the motor of each arm massage unit based on the calculated deviation, thereby controlling the movement speed of the arm massage unit 3000.

[0324] Figure 14 This is a flowchart of an embodiment of the arm massage part alignment and movement algorithm in this specification.

[0325] Reference Figure 14In step S10, the control unit 300 can set the basic moving speed of the arm massage providing unit 3100. At this time, the basic moving speed can refer to the moving speed at which the first arm massage providing unit 3100a and the second arm massage providing unit 3100b (or the first arm massage unit 3000a and the second arm massage unit 3000b) are aligned and moved together. In step S11, when the massage device 100 performs a massage action and / or a stretching action, the control unit 300 can control a portion of the moving speed of the arm massage providing unit 3100.

[0326] The following is a detailed explanation of each step.

[0327] Step S10 can be performed during the manufacturing process of the massage device 100. During the manufacturing process, the extension and retraction speeds of the arm massage actuators of the first arm massage unit 3000a and the second arm massage unit 3000b can vary depending on various factors such as the motor quality and performance of each arm massage actuator. In other words, the difference in extension and retraction speeds of the arm massage actuators of the first arm massage unit 3000a and the second arm massage unit 3000b can mean that the rotational speeds of the motors of the arm massage actuators of the first arm massage unit 3000a and the second arm massage unit 3000b are different during the manufacturing process. This refers to the different moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b, and can also mean that they do not align and move with each other.

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

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

[0330] When the control unit 300 controls the movement speed of the at least one arm massage unit such that the deviation between the movement speeds of the first arm massage unit 3000a (or the first arm massage providing unit 3100a) and the second arm massage unit 3000b (or the second arm massage providing unit 3100b) is within a preset deviation range, the controlled movement speeds of the first arm massage unit 3000a and the second arm massage unit 3000b can be set to a basic movement speed. In other words, the control unit 300 can synchronize the movement speeds of the first arm massage unit 3000a and the second arm massage unit 3000b by setting the movement speeds of the first arm massage unit 3000a and the second arm massage unit 3000b to a basic movement speed.

[0331] The following is a detailed description of step S10.

[0332] According to one embodiment of this specification, the control unit 300 can calculate the deviation of the speed at which the first arm massage unit 3000a and the second arm massage unit 3000b move in a first direction from one end toward (or to) the other end, i.e., a first deviation, and the deviation of the speed at which they move in a second direction from the other end toward one end, i.e., a second deviation.

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

[0334] The control unit 300 controls the moving speed of the arm massage unit 3000 in each direction by using the first deviation and the second deviation, thereby aligning and moving the first arm massage unit 3000a and the second arm massage unit 3000b.

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

[0336] More specifically, the first direction may be a direction from the upper front of one end of the support portion 3200 of each arm massage portion 3000 to the lower rear of the other end of the support portion 3200. The second direction may be a direction from the lower rear of the other end of the support portion 3200 of each arm massage portion 3000 to the upper front of one end of the support portion 3200.

[0337] Unless otherwise stated, the upper front refers to the upper front of the support section 3200, and the lower rear refers to the lower rear of the support section 3200.

[0338] The arm massage providing unit 3100 can move at different speeds when moving in the first direction and when moving in the second direction. The control unit 300 can independently synchronize the movement speed of the arm massage providing unit 3100 when moving in the first direction and when moving in the second direction by calculating the deviation of the movement speed in each direction separately.

[0339] According to one embodiment of this specification, the massage device 100 may include a memory 330 storing information related to the first deviation and the second deviation. The control unit 300 may store the first deviation as a first correction value regarding the movement speed of the first arm massage unit 3000a and the second arm massage unit 3000b when they move in the first direction in the memory 330. Additionally, the second deviation may be stored as a second correction value regarding the movement speed of the first arm massage unit 3000a and the second arm massage unit 3000b when they move in the second direction in the memory 330. The control unit 300 controls the movement speed of at least one of the first arm massage units 3000a and the second arm massage unit 3000b by loading the first and second correction values ​​stored in the memory 330, thereby aligning and moving the first arm massage unit 3000a and the second arm massage unit 3000b.

[0340] Step S11 can be a step of continuously aligning and moving the first arm massage unit 3000a and the second arm massage unit 3000b by maintaining the synchronization of the first arm massage unit 3000a and the second arm massage unit 3000b.

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

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

[0343] When the control unit 300 controls the arm massage unit 3000 to move at the basic moving speed, the arm massage unit 3000 may deviate from the basic moving speed for various reasons. In other words, the first arm massage unit 3000a and the second arm massage unit 3000b may move in a misaligned manner.

[0344] When the first arm massage unit 3000a and the second arm massage unit 3000b, whose movement speeds are synchronized, deviate from the basic movement speed, the control unit 300 can control the movement speed of the first arm massage unit 3000a and the second arm massage unit 3000b to have a value within a preset movement speed range through the aforementioned partial movement speed control method.

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

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

[0347] The following provides a more detailed explanation of each step.

[0348] Figure 15 This is a flowchart illustrating the basic movement speed setting of one embodiment of this specification. Figure 16 This is a diagram illustrating the process of calculating the first deviation according to one embodiment of this specification. Figure 17 This is a diagram illustrating the process of calculating the first deviation according to another embodiment of this specification. Figure 18 This is a diagram illustrating the process of calculating the first deviation according to yet another embodiment of this specification. Figure 19 This is a diagram illustrating an example of counting the rotation values ​​of the arm massage unit actuator motor as the first arm massage unit and the second arm massage unit move in a first direction.

[0349] Reference Figure 15 In step S10-1, the control unit 300 can calculate the first deviation. The control unit 300 can calculate the first deviation when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move from the foremost upper part to the last lower part (or from the front to the rear) in the first direction.

[0350] Reference Figure 16 The control unit 300 can calculate the movement speed of the first arm massage unit 3000a and the second arm massage unit 3000b from a preset start time point to a preset end time point.

[0351] For example, the control unit 300 can control the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move in the first direction. The control unit 300 can control the arm massage providing unit 3100 to move from the foremost top ( Figure 16 Move A to the bottom last ( Figure 16 (B) When the arm massage providing part 3100 is located at the foremost and uppermost position, the arm massage part actuator 3320 can be in an unextended state. When the arm massage providing part 3100 is located at the rearmost and lowermost position, the arm massage part actuator 3320 can be in a fully extended state.

[0352] When the arm massage providing unit 3100 moves from the front top to the back bottom, the control unit 300 can calculate the first deviation within a preset time interval.

[0353] As an example, the time taken for the arm massage providing part 3100 to move from the top front to the bottom back can be less than 20 seconds. This includes the 5-second interval from when the arm massage providing part 3100 begins to move. Figure 16 The interval between A and C can correspond to the acceleration interval of the arm massage providing unit 3100. When the arm massage providing unit 3100 is in the interval between 5 seconds and 10 seconds ( Figure 16 When the arm massage providing unit 3100 moves within the C to D range, it can move backward and downward at a constant speed within a preset error range. When the arm massage providing unit 3100 moves within the range of 10 to 20 seconds... Figure 16 When the arm massage providing part 3100 moves in the D to B interval, it can decelerate.

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

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

[0356] Specifically, when the arm massage providing unit 3100 moves in the first direction, the control unit 300 can obtain the number of motor rotations from the encoder. The control unit 300 can use the number of motor rotations obtained in the C to D interval to calculate the extension length of the arm massage unit actuator 3320. The extension speed of the arm massage unit actuator 3320 can correspond to the movement speed of the arm massage providing unit 3100. The control unit 300 calculates the movement speed of each arm massage providing unit 3100 by using the time the arm massage providing unit 3100 moves in the C to D interval and the extension length of the arm massage unit actuator in the C to D interval, and can calculate the first deviation.

[0357] At this time, the control unit 300 can calculate the moving speed of each arm massage unit by extracting the moving distance of the first arm massage unit 3000a and the second arm massage unit 3000b according to a preset time interval within the range where the first arm massage unit 3000a and the second arm massage unit 3000b move at a constant speed in the first direction.

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

[0359] For example, after the first arm massage providing unit 3100a starts moving, the number of motor rotations acquired between 5 and 6 seconds can be 45, between 6 and 7 seconds can be 46, between 7 and 8 seconds can be 44, between 8 and 9 seconds can be 45, and between 9 and 10 seconds can be 44. Similarly, after the second arm massage providing unit 3100b starts moving, the number of motor rotations acquired between 5 and 6 seconds can be 42, between 6 and 7 seconds can be 42, between 7 and 8 seconds can be 41, between 8 and 9 seconds can be 42, and between 9 and 10 seconds can be 41.

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

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

[0362] The movement time of the arm massage providing unit 3100 described above, the time interval for each interval's time point, and the time interval for obtaining the motor's rotation count from the encoder correspond to one example and are not limited by the stated time. Furthermore, the time taken for the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move from the foremost upper position to the last lower position may differ from each other; therefore, the intervals for calculating the movement speed may also differ from each other.

[0363] Reference Figure 17 The control unit 300 can calculate the movement speed of the first arm massage unit 3000a and the second arm massage unit 3000b within a preset movement range.

[0364] When the arm massage providing part 3100 is located at the foremost and topmost position ( Figure 17 When (A) is in the extended state, the arm massage actuator 3320 can be in the non-extended state. When the arm massage providing part 3100 is in the rearmost lower position ( Figure 17 When B), the arm massage actuator 3320 can be in a state of extension of 180mm.

[0365] When the arm massage providing unit 3100 moves in the first direction, the control unit 300 can obtain the number of motor rotations from the encoder. The control unit 300 can calculate the extension length of the arm massage actuator 3320 using the obtained number of motor rotations. The control unit 300 can calculate the extension length of the arm massage actuator 3320 from the state of extending a first length ( Figure 17 E) to the state of elongation to the second length ( Figure 17 The arm massage actuator 3320 extends at a speed up to (F). When the arm massage actuator 3320 changes from an extended first length state to an extended second length state, the arm massage providing unit 3100 can move within a preset movement range. At this time, the extension speed of the arm massage actuator 3320 can correspond to the movement speed of the arm massage providing unit 3100.

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

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

[0368] The control unit 300 can calculate the average moving speed of each arm massage provider 3100 in the second interval by using the length of the second interval and the time information of each arm massage provider 3100 moving in the second interval. The control unit 300 can calculate the first deviation by using the difference between the average moving speeds of the first arm massage provider 3100a and the second arm massage provider 3100b. The maximum extension length of the arm massage actuator 3320 corresponds to a preset moving interval, but is not limited by the length and interval.

[0369] Reference Figure 18 and Figure 19 The control unit 300 can calculate the movement speed by extracting the movement distance of the first arm massage unit 3000a and the second arm massage unit 3000b from a preset start time point to a preset end time point within a preset movement range according to a preset time interval.

[0370] As an example, when the arm massage providing part 3100 moves in the first direction, the control unit 300 extends a first length from the arm massage part actuator 3320. Figure 18 E) becomes a state of elongation to a second length. Figure 18When F), the arm massage providing unit 3100 can move within a preset range. The state in which the arm massage actuator 3320 extends the first length can correspond to a state in which it extends 45 mm based on the state in which the arm massage actuator 3320 is not extended. The state in which the arm massage actuator 3320 extends the second length can correspond to a state in which it extends 90 mm based on the state in which the arm massage actuator 3320 is not extended.

[0371] The transition from the arm massage actuator 3320's unextended state to its 45mm extended state corresponds to a first interval of acceleration for the arm massage supply unit 3100. The transition from the arm massage actuator 3320's first extended length to its second extended length corresponds to a second interval of constant speed movement for the arm massage supply unit 3100 within a preset error range. The transition from the arm massage actuator 3320's second extended length to its 180mm extended state corresponds to a third interval of deceleration for the arm massage supply unit 3100. The control unit 300 can calculate the movement speed of the arm massage supply unit 3100 when it moves within the second interval.

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

[0373] The maximum extension length, preset movement range, preset start time point, end time point, and time interval of the arm massage actuator 3320 correspond to one example, but are not limited thereto.

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

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

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

[0377] The first deviation calculated when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second interval can correspond to the difference in the number of rotations of the motors of the arm massage actuators 3320 provided in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b. In this case, the first deviation can correspond to 16. This corresponds to one example and is not limited by the number of motor rotations obtained by the control unit 300 and the value of the calculated first deviation.

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

[0379] In step S10-3, the control unit 300 can calculate the second deviation. The control unit 300 can calculate the second deviation when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move from the rearmost downward direction to the frontmost upward direction.

[0380] Figure 20 This is a diagram illustrating the process of calculating the second deviation according to one embodiment of this specification. Figure 21 This is a diagram illustrating the process of calculating the second deviation according to another embodiment of this specification. Figure 22 This is a diagram illustrating the process of calculating the second deviation according to yet another embodiment of this specification. Figure 23 This is a diagram illustrating an example of counting the rotation values ​​of the arm massage unit actuator motor when the first arm massage unit and the second arm massage unit move in the second direction.

[0381] Reference Figure 20 The control unit 300 can calculate the movement speed of the first arm massage unit 3000a and the second arm massage unit 3000b from a preset start time point to a preset end time point.

[0382] The control unit 300 can control the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move in the second direction. The control unit 300 can control the arm massage providing unit 3100 to move from the rearmost bottom ( Figure 20 B) Move to the front and top ( Figure 20 (A). The rotation direction of the motor when each arm massage unit 3100 moves in the second direction may be opposite to the rotation direction of the motor when it moves in the first direction.

[0383] When the arm massage providing unit 3100 moves from the bottom back to the top front, the control unit 300 can calculate the second deviation within a preset time interval.

[0384] As an example, the time taken for the arm massage providing part 3100 to move from the bottom rear to the top front can be less than 20 seconds. This includes the 5-second interval from when the arm massage providing part 3100 begins to move. Figure 20 The interval between B and D can correspond to the acceleration interval of the arm massage providing unit 3100. When the arm massage providing unit 3100 is in the interval between 5 seconds and 10 seconds ( Figure 20 When the arm massage providing unit 3100 moves within the D to C interval, it can move forward and upward at a constant speed within a preset error range. When the arm massage providing unit 3100 moves within the interval between 10 and 20 seconds... Figure 20 When the arm massage providing part 3100 moves within the C to A interval, it can decelerate.

[0385] The moving speed of the arm massage providing unit 3100 can vary irregularly within acceleration and deceleration ranges. Furthermore, the acceleration and / or deceleration degrees of the arm massage actuators 3320 of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b can differ from each other. Therefore, when calculating the second deviation using the average moving speed of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b, including the moving speeds within the acceleration and deceleration ranges, it may be difficult to synchronize the moving speeds of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b.

[0386] The control unit 300 can calculate the second deviation using the average moving speed of the first arm massage provider 3100a and the second arm massage provider 3100b as they move within the D to C interval. Within the D to C interval, the first arm massage provider 3100a and the second arm massage provider 3100b can move at a more constant speed than in the acceleration and deceleration intervals. Therefore, the control unit 300 can calculate the second deviation more accurately. In other words, the second deviation can be the deviation between the moving speeds of the first arm massage provider 3000a and the second arm massage provider 3000b within the interval where they move at a constant speed in the second direction.

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

[0388] At this time, the control unit 300 can calculate the moving speed of each arm massage unit by extracting the moving distance of the first arm massage unit 3000a and the second arm massage unit 3000b according to a preset time interval within the range where the first arm massage unit 3000a and the second arm massage unit 3000b move in the second direction at a constant speed.

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

[0390] For example, after the first arm massage providing unit 3100a starts moving, the number of motor rotations acquired between 5 and 6 seconds can be 43, between 6 and 7 seconds can be 42, between 7 and 8 seconds can be 43, between 8 and 9 seconds can be 44, and between 9 and 10 seconds can be 43. Similarly, after the second arm massage providing unit 3100b starts moving, the number of motor rotations acquired between 5 and 6 seconds can be 41, between 6 and 7 seconds can be 41, between 7 and 8 seconds can be 41, between 8 and 9 seconds can be 42, and between 9 and 10 seconds can be 41.

[0391] The total number of motor rotations of the first arm massage providing unit 3100a when it moves in the D to C range can be 215 times, and the total number of motor rotations of the second arm massage providing unit 3100b when it moves in the D to C range can be 206 times. The second deviation can correspond to the difference between the total number of motor rotations of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b when they move in the D to C range. In this case, the second deviation can correspond to 9 times. This is one example and is not limited by the number of motor rotations acquired by the control unit 300 and the calculated value of the second deviation.

[0392] The movement time of the arm massage providing unit 3100 described above, the time interval for each interval's time point, and the time interval for obtaining the motor's rotation count from the encoder correspond to one example and are not limited by the stated time. Furthermore, the time taken for the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to move from the rearmost lower position to the frontmost upper position may differ from each other; therefore, the intervals for calculating the movement speed may also differ from each other.

[0393] Reference Figure 21 The control unit 300 can calculate the movement speed of the first arm massage unit 3000a and the second arm massage unit 3000b within a preset movement range.

[0394] When the arm massage providing part 3100 is located at the very bottom ( Figure 21When (B) is in the extended 180mm state, the arm massage actuator 3320 can be in the extended 180mm state. When the arm massage providing part 3100 is in the foremost position (B) Figure 21 When A), the arm massage actuator 3320 can be in an unextended state.

[0395] When the arm massage providing unit 3100 moves in the second direction, the control unit 300 can obtain the number of motor rotations from the encoder. The control unit 300 can calculate the length of retraction of the arm massage actuator 3320 using the obtained number of motor rotations. The rotation direction of the motor when the arm massage providing unit 3100 moves in the second direction can be opposite to the rotation direction of the motor when moving in the first direction. The control unit 300 can calculate the length of retraction of the arm massage actuator 3320 from a state of retraction of a first length. Figure 21 The F) to the state of contraction of the second ' length ( Figure 21 Up to (E), the arm massage actuator 3320 retracts at a speed that corresponds to the arm massage providing unit 3100 moving within a predetermined movement range. The change from a state of retracting a first 'length' to a state of retracting a second 'length' by the arm massage actuator 3320 corresponds to the time point at which the arm massage providing unit 3100 moves within a predetermined movement range. At this time, the retraction speed of the arm massage actuator 3320 corresponds to the movement speed of the arm massage providing unit 3100.

[0396] As an example, the state in which the arm massage actuator 3320 retracts to the first 'length' can correspond to a state in which it retracts to 90mm based on a state in which the arm massage actuator 3320 extends to 180mm. The state in which the arm massage actuator 3320 retracts to the second 'length' can correspond to a state in which it retracts to 45mm based on a state in which the arm massage actuator 3320 retracts to the first 'length'. The state from the state in which the arm massage actuator 3320 extends to 180mm to the state in which it retracts to 90mm can correspond to a first 'interval' of acceleration of the arm massage providing unit 3100. The state from the state in which the arm massage actuator 3320 retracts to the state in which it retracts to the second 'length' can correspond to a second 'interval' in which the arm massage providing unit 3100 moves at a constant speed within a preset error range. The state from the state in which the arm massage actuator 3320 retracts to the state in which it does not extend can correspond to a third 'interval' of deceleration of the arm massage providing unit 3100.

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

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

[0399] The extension and / or retraction length of the arm massage actuator 3320 corresponds to a preset movement range, but is not limited by the length and range.

[0400] Reference Figure 22 and Figure 23 The control unit 300 can calculate the movement speed by extracting the movement distance of the first arm massage unit 3000a and the second arm massage unit 3000b from a preset start time point to a preset end time point within a preset movement range according to a preset time interval.

[0401] As an example, when the arm massage providing part 3100 moves in the second direction, the control unit 300 retracts a first length from the arm massage part actuator 3320. Figure 21 F) becomes a state of contraction of the second ' length ( Figure 21 The time point at which the arm massage unit 3100 moves within a preset interval can correspond to the time point at which the arm massage unit actuator 3320 retracts its first length. The state at which the arm massage unit actuator 3320 retracts its second length can correspond to the time point at which it retracts its first length by 90 mm.

[0402] The state from which the arm massage actuator 3320 extends to 180mm and retracts to 90mm corresponds to a first 'interval' of acceleration of the arm massage providing unit 3100. The state from which the arm massage actuator 3320 retracts to the first 'length' and retracts to the second 'length' corresponds to a second 'interval' of the arm massage providing unit 3100 moving at a constant speed within a preset error range. The state from which the arm massage actuator 3320 retracts to the second 'length' and does not extend corresponds to a third interval of deceleration of the arm massage providing unit 3100. The control unit 300 can calculate the moving speed of the arm massage providing unit 3100 when it moves in the second 'interval'.

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

[0404] The arm massage actuator 3320's extension and / or retraction length, preset movement range, preset start time point, end time point, and time interval correspond to one example, but are not limited thereto.

[0405] When the first arm massage unit 3000a and the second arm massage unit 3000b move within the second' interval, the control unit 300 can obtain the motor rotation count from the encoder of each arm massage unit actuator 3320. When the first arm massage unit 3000a and the second arm massage unit 3000b move within the second' interval, the control unit 300 can obtain the motor rotation count for 5 seconds at 1-second intervals. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move within the second' interval, the control unit 300 can obtain the motor rotation count for 5 seconds at 1-second intervals.

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

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

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

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

[0410] According to one embodiment of this specification, the control unit 300 can control the moving speed of the arm massage providing unit 3100 using a PID (Proportional Integral Derivation Control) method. The control unit 300 can also control the rotational speed of the motor of the arm massage actuator 3320 using a PID control method.

[0411] The control unit 300 can control the rotational speed of the arm massage actuator 3320 motor by modulating the pulse width of the output voltage of the arm massage actuator 3320. The control unit 300 can control the movement speed of the arm massage providing unit 3100 by controlling the rotational speed of the arm massage actuator 3320 motor. Since the technique of using PWM to control the rotational speed of a motor is well known to those skilled in the art, a detailed description is omitted.

[0412] Hereinafter, the state in which the output voltage driving the arm massage actuator 3320 is not applied to the arm massage actuator 3320 is defined as the "PWM 0%" state. Furthermore, the state in which the output voltage driving the arm massage actuator 3320 is applied to the arm massage actuator 3320 and the motor of the arm massage actuator 3320 rotates at its maximum performance speed is defined as the "PWM 100%" state. The arm massage actuator 3320 can have any one of the states "PWM 0% to 100%" depending on the rotational speed of the motor. "PWM 0%" can refer to an output voltage duty cycle of 0%. "PWM 100%" can refer to an output voltage duty cycle of 100%. The output voltage duty cycle can have any value from 0% to 100%. When the output voltage duty cycle is 100%, the arm massage unit 3000 can move at its maximum speed. The moving speed of the arm massage unit 3000 can be proportional to the duty cycle.

[0413] Furthermore, when the motor rotates and causes the arm massage actuator 3320 to extend (when the arm massage providing part moves in the first direction), it is defined as the motor rotating in the forward direction. When the motor rotates and causes the arm massage actuator 3320 to retract (when the arm massage providing part moves in the second direction), it is defined as the motor rotating in the reverse direction. Depending on the direction of rotation of the motor, the arm massage actuator 3320 can have any one of the forward "PWM 0% to 100%" states and any one of the reverse "PWM 0% to 100%" states. This corresponds to one example and is not limited by the definitions.

[0414] The control unit 300 modulates the duty cycle of the output voltage applied to the motor through PWM control, thereby controlling the moving speed of at least one arm massage unit 3000.

[0415] According to one embodiment of this specification, when the first arm massage unit 3000a and the second arm massage unit 3000b move in the first direction, the control unit 300 can control the slower movement of the arm massage unit 3000a and the second arm massage unit 3000b, which has a relatively faster movement speed, to be the same as the first correction value. Preferably, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 can control the slower movement of the arm massage unit 3100a and the second arm massage providing unit 3100b, which has a relatively faster movement speed, to be the same as the first correction value.

[0416] When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move within the second interval, the control unit 300 can acquire the rotation number of the motors of the arm massage actuators 3320 provided in each arm massage providing unit. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 can control the rotation number of the motors of the arm massage actuators 3320 in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to be less than the rotation number of the motors of the arm massage actuators 3320 in the second arm massage providing unit 3100b, to the same extent as the second correction value.

[0417] Furthermore, when the first arm massage unit 3000a and the second arm massage unit 3000b move in the second direction, the control unit 300 can control the slower movement of the arm massage unit 3000a and the second arm massage unit 3000b, which has a relatively faster movement speed, to be the same as the second correction value. Preferably, when the first arm massage unit 3100a and the second arm massage unit 3100b move in the second direction, the control unit 300 can control the slower movement of the arm massage unit 3100a and the second arm massage unit 3100b, which has a relatively faster movement speed, to be the same as the second correction value.

[0418] When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move within the second interval, the control unit 300 can acquire the rotation number of the motors of the arm massage actuators 3320 provided in each arm massage providing unit. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the control unit 300 can control the rotation number of the motors of the arm massage actuators 3320 in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b to be less than the rotation number of the motors of the arm massage actuators 3320 in the second arm massage providing unit 3100b, to the same extent as the second correction value.

[0419] As an example, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 can obtain a rotation count of 224 for the motor of the arm massage actuator 3320 in the first arm massage providing unit 3100a and a rotation count of 208 for the motor of the arm massage actuator 3320 in the second arm massage providing unit 3100b. In this case, the first correction value can be calculated as 16. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 can control the motor of the arm massage actuator 3320 in the first arm massage providing unit 3100a to rotate 16 fewer times.

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

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

[0422] As an example, when the first correction value is 16, the control unit 300 can reduce the duty cycle of the output voltage applied to the first arm massage unit 3000a by 16%. Therefore, the first arm massage providing unit 3100a can move in the first direction in a positive "PWM 84%" state. The percentage reduction of the duty cycle based on the magnitude of the correction value corresponds to one example and is not limited to this.

[0423] At this time, the control unit 300 can adjust the duty cycle of the output voltage within a preset range. For example, the control unit 300 can adjust the duty cycle to within 10%. When the first correction value has a value between 0 and 10, the control unit 300 can reduce the duty cycle of the output voltage applied to the first arm massage unit 3000a by 0% to 10% corresponding to the first correction value. When the first correction value is 10 or higher, the control unit 300 can reduce the duty cycle of the output voltage applied to the first arm massage unit 3000a by 10%. For example, when the first correction value is 16, the control unit 300 can reduce the duty cycle of the output voltage applied to the first arm massage unit 3000a by 10%. At this time, the first arm massage providing unit 3100a can move in the first direction in a positive "PWM 90%" state. The percentage reduction of the duty cycle based on the magnitude of the correction value and the range of duty cycle adjustment correspond to one example, but are not limited thereto.

[0424] Furthermore, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the control unit 300 can obtain a rotation count of 215 for the motor of the arm massage actuator 3320 in the first arm massage providing unit 3100a and a rotation count of 206 for the motor of the arm massage actuator 3320 in the second arm massage providing unit 3100b. In this case, the second correction value can be calculated as 9. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the control unit 300 can control the motor of the arm massage actuator 3320 in the first arm massage providing unit 3100a to rotate 9 fewer times.

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

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

[0427] As an example, when the second correction value is 9, the control unit 300 can reduce the duty cycle of the output voltage applied to the first arm massage unit 3000a by 9%. Therefore, the first arm massage providing unit 3100a can move in the first direction in a reverse "PWM 91%" state. The percentage reduction of the duty cycle based on the magnitude of the correction value corresponds to one example and is not limited to this.

[0428] At this time, the control unit 300 can adjust the duty cycle of the output voltage within a preset range. For example, the control unit 300 can adjust the duty cycle to within 10%. When the second correction value has a value between 0 and 10, the control unit 300 can reduce the duty cycle of the output voltage applied to the first arm massage unit 3000a by 0% to 10% corresponding to the second correction value. When the second correction value is 10 or higher, the control unit 300 can reduce the duty cycle of the output voltage applied to the first arm massage unit 3000a by 10%. For example, when the second correction value is 16, the control unit 300 can reduce the duty cycle of the output voltage applied to the first arm massage unit 3000a by 10%. At this time, the first arm massage providing unit 3100a can move in the second direction in a reverse "PWM 90%" state. The percentage reduction of the duty cycle based on the magnitude of the correction value and the range of duty cycle adjustment correspond to one example, but are not limited to this.

[0429] According to another embodiment of this specification, when the first arm massage unit 3000a and the second arm massage unit 3000b move in the first direction, the control unit 300 can control the relatively slower arm massage unit 3000a and the second arm massage unit 3000b to move quickly to the same degree as the first correction value. Preferably, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 can control the relatively slower arm massage unit 3100a and the second arm massage providing unit 3100b to move quickly to the same degree as the first correction value.

[0430] When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move within the second interval, the control unit 300 can acquire the number of rotations of the motors of the arm massage actuators 3320 provided in each arm massage providing unit. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 can control the number of rotations of the motors of the arm massage actuators 3320 in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b, which has a relatively smaller number of rotations, to a degree that is the same as the first correction value.

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

[0432] When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move within the second interval, the control unit 300 can acquire the number of rotations of the motors of the arm massage actuators 3320 provided in each arm massage providing unit. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the control unit 300 can control the number of rotations of the motors of the arm massage actuators 3320 in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b, which has a relatively smaller number of rotations, to a degree that is the same as the second correction value.

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

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

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

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

[0437] At this time, the control unit 300 can adjust the duty cycle of the output voltage within a preset range. For example, the control unit 300 can adjust the duty cycle to within 10%. When the first correction value has a value between 0 and 10, the control unit 300 can increase the duty cycle of the output voltage applied to the second arm massage unit 3000b by 0% to 10% corresponding to the first correction value. When the first correction value is 10 or higher, the control unit 300 can increase the duty cycle of the output voltage applied to the second arm massage unit 3000b by 10%. For example, when the first correction value is 16, the control unit 300 can increase the duty cycle of the output voltage applied to the second arm massage unit 3000b by 10%. At this time, the second arm massage providing unit 3100b can move in the first direction in a positive "PWM 90%" state. The percentage increase of the duty cycle based on the magnitude of the correction value and the range of duty cycle adjustment correspond to one example, but are not limited thereto.

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

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

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

[0441] As an example, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction in a reverse "PWM 80%" state, the second correction value can be calculated as 9. At this time, the control unit 300 can increase the duty cycle of the output voltage applied to the second arm massage providing unit 300b by 9%. Therefore, the second arm massage providing unit 3100b can move in the second direction in a reverse "PWM 89%" state. The percentage increase in duty cycle based on the magnitude of the correction value corresponds to one example and is not limited to this.

[0442] At this time, the control unit 300 can adjust the duty cycle of the output voltage within a preset range. For example, the control unit 300 can adjust the duty cycle to within 10%. When the second correction value has a value between 0 and 10, the control unit 300 can increase the duty cycle of the output voltage applied to the second arm massage unit 3000b by 0% to 10% corresponding to the second correction value. When the second correction value is 10 or higher, the control unit 300 can increase the duty cycle of the output voltage applied to the second arm massage unit 3000b by 10%. For example, when the second correction value is 16, the control unit 300 can increase the duty cycle of the output voltage applied to the second arm massage unit 3000b by 10%. At this time, the second arm massage providing unit 3100b can move in the second direction in a reverse "PWM90%" state. The percentage increase of the duty cycle based on the magnitude of the correction value and the range of duty cycle adjustment correspond to one example, but are not limited to this.

[0443] According to another embodiment of this specification, when the first arm massage unit 3000a and the second arm massage unit 3000b move in the first direction, the control unit 300 can control the relatively slower arm massage unit 3000a and the second arm massage unit 3000b to move quickly to the same degree as a portion of the first correction value, and can control the relatively faster arm massage unit to move slowly to the same degree as the remaining portion of the first correction value.

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

[0445] When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move within the second interval, the control unit 300 can acquire the number of rotations of the motors of the arm massage actuators 3320 provided in each arm massage providing unit. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the first direction, the control unit 300 can control the rotation number of the motors of the arm massage actuators 3320 in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b, which has a relatively smaller number of rotations, to a degree that is more than a portion of the first correction value, and can control the rotation number of the motors of the arm massage actuators 3320 with a relatively larger number of rotations to a degree that is less than the remainder of the first correction value.

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

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

[0448] When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move within the second interval, the control unit 300 can acquire the number of rotations of the motors of the arm massage actuators 3320 provided in each arm massage providing unit. When the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move in the second direction, the control unit 300 can control the number of rotations of the motors of the arm massage actuators 3320 in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b that is relatively smaller to a degree that rotates more than a portion of the second correction value, and can control the number of rotations of the motors of the arm massage actuators 3320 that is relatively larger to a degree that rotates less than the remainder of the second correction value.

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

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

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

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

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

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

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

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

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

[0458] Figure 24 This is a flowchart illustrating the basic movement speed setting of another embodiment of this specification.

[0459] Reference Figure 24 In steps S10-10, the control unit 300 can calculate the first deviation, but since this has already been explained above, a repetition will be omitted.

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

[0461] In steps S10-13, the control unit 300 can calculate the second deviation, but since this has already been explained above, a repeating explanation will be omitted.

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

[0463] In steps S10-16, the control unit 300 can adjust the duty cycle of the output voltage applied to at least one arm massage unit 3000 by using at least one of the first correction value and the second correction value, thereby controlling the moving speed of the arm massage providing unit 3100 to have a value within a preset deviation range and to move in at least one of the first direction and the second direction.

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

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

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

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

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

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

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

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

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

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

[0474] Furthermore, in steps S10-11, when the first deviation is less than a preset first reference value (step S10-11 No), the control unit 300 can determine that the first deviation corresponds to a deviation within the normal range, and therefore does not store the first deviation in the memory 330. A deviation corresponding to the normal range can refer to a value within a preset deviation range.

[0475] Then, in steps S10-30, the control unit 300 can calculate the second deviation.

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

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

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

[0479] As an example, the first deviation may correspond to 15, and the second deviation may correspond to 13. A preset reference value for the first and second deviations may correspond to 5. When the first and second deviations are greater than or equal to 5, the control unit 300 may store them as correction values ​​in the memory 330. In this case, the control unit 300 may store the first deviation as a first correction value in the memory 330, and the second deviation as a second correction value in the memory 330. Then, as described above, the control unit 300 may control the movement speed of each arm massage unit 3100 to have a value within a preset deviation range and to move in the first and second directions by adjusting the duty cycle of the output voltage applied to at least any one of the arm massage units 3000. At this time, the correction to have the arm massage unit 3100 having a value within a preset deviation range and moving in the first and second directions at a movement speed that corresponds to a basic movement speed in the first and second directions.

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

[0481] Subsequently, as described above, the control unit 300 can control the moving speed of each arm massage providing unit 3100 to have a value within a preset deviation range and to move in the first direction by adjusting the duty cycle of the output voltage applied to at least any one of the arm massage providing units 3000. This is corrected so that the arm massage providing unit 3100 has a value within the preset deviation range and the moving speed in the first direction corresponds to the basic moving speed in the first direction.

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

[0483] Subsequently, as described above, the control unit 300 can control the moving speed of each arm massage providing unit 3100 to have a value within a preset deviation range and to move in the second direction by adjusting the duty cycle of the output voltage applied to at least any one of the arm massage providing units 3000. This is corrected so that the arm massage providing unit 3100 has a value within the preset deviation range and the moving speed in the second direction corresponds to the basic moving speed in the second direction.

[0484] As another example, the first deviation can correspond to 3, and the second deviation can correspond to 2. A preset reference value for the first and second deviations can correspond to 5. When the first and second deviations are 5 or higher, the control unit 300 can store them as correction values ​​in the memory 330. In this case, the control unit 300 may not store the first and second deviations in the memory 330. At this time, the movement speed of the arm massage providing unit 3100 when moving in the first and second directions can correspond to a basic movement speed in both directions.

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

[0486] The process of setting the basic movement speed according to this specification can be performed in the administrator mode of the massage device 100 via a one-key test. In the administrator mode, the control unit 300 can store the first correction value and / or the second correction value in the memory 330. Afterwards, the control unit 300 can restart the system of the massage device 100. After restarting the system of the massage device 100, the control unit 300 uses the first correction value and / or the second correction value stored in the memory 330 to correct the movement speed of at least one of the first arm massage provider 3100a and the second arm massage provider 3100b to set the basic movement speed. At this time, as described above, the control unit 300 can set the first and / or second basic movement speed before and / or during the movement of the arm massage provider.

[0487] Figure 25 This is a flowchart of part of the movement speed control in one embodiment of this specification.

[0488] Reference Figure 25 In step S11-1, the control unit 300 can control the massage device 100 to perform any massage mode and / or stretching mode. When the control unit 300 controls the first arm massage unit 3000a and the second arm massage unit 3000b to move in any massage mode and / or stretching mode, it can control the first arm massage unit 3000a and the second arm massage unit 3000b to move at the basic moving speed.

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

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

[0491] According to one embodiment of this specification, when the first arm massage providing unit 3100a and the second arm massage providing unit 3100b move at the basic moving speed, the control unit 300 can calculate a partial moving speed of the first arm massage providing unit 3100a and the second arm massage providing unit 3100b based on a preset speed calculation interval. As an example, the control unit 300 can calculate the partial moving speed based on the change in the encoder of the arm massage actuator 3320 provided in the first arm massage providing unit 3100a and the second arm massage providing unit 3100b. The change in the encoder may refer to the generation of a pulse in the encoder by the rotation of the motor of the arm massage actuator 3320. Alternatively, the change in the encoder may refer to the encoder rotating once by the rotation of the motor of the arm massage actuator 3320. The change in the encoder may also refer to the encoder rotating once by the rotation of the motor, based on the state before the arm massage actuator 3320 actuates. This corresponds to one example and is not limited to the standard.

[0492] In steps S11-3, the control unit 300 can calculate the moving speed of the arm massage unit 3000. The control unit 300 can calculate the moving speed of the arm massage unit 3000 using pulse information generated by an encoder. The control unit 300 can calculate the moving speed of the arm massage providing unit 3100 using pulse information generated according to changes in the encoder. This corresponds to the speed at which the arm massage unit actuator 3320 extends or retracts according to changes in the encoder. Since calculating the moving speed using pulse information generated by the encoder is a technique well-known to those skilled in the art, detailed description is omitted.

[0493] The moving speed of the arm massage unit 3000, which varies according to the encoder, can refer to a portion of the moving speed of the arm massage unit 3000. Similarly, the moving speed of the arm massage providing unit 3100, which varies according to the encoder, can refer to a portion of the moving speed of the arm massage providing unit 3100.

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

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

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

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

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

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

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

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

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

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

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

[0505] When the partial movement speed of the arm massage providing unit 3100 is less than the minimum value of a preset speed range, the control unit 300 can change the duty cycle of the output voltage to a value greater than 92%. In this case, the control unit 300 can control the duty cycle of the output voltage to be as large as the preset change value. For example, the control unit 300 can control the duty cycle of the output voltage applied to the arm massage actuator 3320 to increase by 1%, but this is only one example and is not limited by the numerical value of the change.

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

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

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

[0509] When the partial movement speed of the arm massage providing unit 3100 is less than the minimum value of a preset speed range, the control unit 300 can change the duty cycle of the output voltage to a value greater than 92%. In this case, the control unit 300 can control the duty cycle of the output voltage to be as large as the preset change value. For example, the control unit 300 can control the duty cycle of the output voltage applied to the arm massage actuator 3320 to increase by 1%, but this is only one example and is not limited by the numerical value of the change.

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

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

[0512] As an example, the control unit 300 can calculate a portion of the moving speed of the first arm massage providing unit 3100a based on changes in the encoder of the arm massage actuator 3320 provided in the first arm massage providing unit 3100a. Furthermore, the control unit 300 can calculate a portion of the moving speed of the second arm massage providing unit 3100b based on changes in the encoder of the arm massage actuator 3320 provided in the second arm massage providing unit 3100b.

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

[0514] The embodiments of this specification have been described above with reference to the accompanying drawings. Those skilled in the art will understand that this invention can be implemented in other specific forms without altering its technical concept or essential features. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

Claims

1. A massaging device, characterized by include: The first arm massage section is located on one side of the body massage section and can move back and forth. The second arm massage section is located on the other side of the body massage section and can move back and forth. The control unit controls the movements of the body massage unit, the first arm massage unit, and the second arm massage unit; The control unit calculates the deviation between the moving speeds of the first arm massage unit and the second arm massage unit, and controls the moving speed of at least one of the first arm massage unit and the second arm massage unit so that the deviation has a value within a preset deviation range.

2. The massage device according to claim 1, characterized in that, The control unit calculates a first deviation and a second deviation. The first deviation is the deviation in the speed at which the first arm massage unit and the second arm massage unit move in a first direction from one end to the other. The second deviation is the deviation in the speed at which they move in a second direction from the other end to the first end. The control unit uses the first deviation and the second deviation to control the movement speed of the arm massager in each direction.

3. The massage device according to claim 2, characterized in that, The control unit calculates the movement speed of the first arm massage unit and the second arm massage unit from a preset start time point to a preset end time point.

4. The massage device according to claim 2, characterized in that, The control unit calculates the movement speed of the first arm massage unit and the second arm massage unit within a preset movement range.

5. The massage device according to claim 2, characterized in that, The control unit extracts the moving distance of the first arm massager and the second arm massager according to a preset time interval and calculates the moving speed.

6. The massage device according to claim 2, characterized in that, It also includes a memory that stores information related to the first deviation and the second deviation; The control unit stores the first deviation as a first correction value in the memory regarding the moving speed of the first arm massage unit and the second arm massage unit when they move in the first direction. The control unit stores the second deviation as a second correction value in the memory regarding the moving speed of the first arm massage unit and the second arm massage unit when they move in the second direction. The control unit controls the movement speed of the at least one arm massage unit by loading at least one of the first correction value and the second correction value stored in the memory.

7. The massage device according to claim 6, characterized in that, When the first arm massage unit and the second arm massage unit move in the first direction, the control unit controls the arm massage unit that moves faster to move slower to the same degree as the first correction value. When the first arm massage unit and the second arm massage unit move in the second direction, the control unit controls the slower arm massage unit, which moves faster, to move at the same degree as the second correction value.

8. The massage device according to claim 6, characterized in that, When the first arm massage unit and the second arm massage unit move in the first direction, the control unit controls the arm massage unit with the relatively slower movement speed to move faster to the same degree as the first correction value. When the first arm massage unit and the second arm massage unit move in the second direction, the control unit controls the arm massage unit with the relatively slower movement speed to move faster to the same degree as the second correction value.

9. The massage device according to claim 6, characterized in that, When the first arm massage unit and the second arm massage unit move in the first direction, the control unit controls the arm massage unit with a relatively slower movement speed to move quickly to the same extent as a portion of the first correction value, and controls the arm massage unit with a relatively faster movement speed to move slowly to the same extent as the remainder of the first correction value. When the first arm massage unit and the second arm massage unit move in the second direction, the control unit controls the arm massage unit with a relatively slower movement speed to move slowly to the same extent as a portion of the second correction value, and controls the arm massage unit with a relatively faster movement speed to move slowly to the same extent as the remainder of the second correction value.

10. The massage device according to claim 6, characterized in that, When the first deviation exceeds a preset reference value, the control unit stores the first deviation as the first correction value in the memory. When the second deviation exceeds a preset reference value, the control unit stores the second deviation as the second correction value in the memory.

11. The massage device according to claim 1, characterized in that, When the movement speed of the at least one arm massage unit is controlled such that the deviation has a value within a preset deviation range, the control unit sets the movement speed of the controlled first arm massage unit and the second arm massage unit to a basic movement speed.

12. The massage device according to claim 11, characterized in that, When the first arm massage unit and the second arm massage unit are controlled to move in motion according to any massage mode, the control unit controls the first arm massage unit and the second arm massage unit to move at the basic movement speed. The control unit controls the first arm massage unit and the second arm massage unit to have values ​​within a preset range of movement speed.

13. The massage device according to claim 12, characterized in that, When the first arm portion massage section and the second arm portion massage section move at the basic moving speed, The control section calculates a partial moving speed of the first arm portion massage section and the second arm portion massage section according to a pre-set speed calculation interval, and controls the partial moving speed to have a value within a pre-set speed range.

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

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

Images