Massage device

Abstract

According to the embodiment of the utility model provides a kind of massage device.The massage device is characterized in that, including: main body part, including the frame part of the body of supporting user;Expansion part, located with the position adjacent to the main body part and including upper surface;Sensor, set in any one of the main body part and the expansion part;And control part, the rising and lowering of the expansion part is controlled, the control part uses the result measured by the sensor to adjust the height of the expansion part.According to the massage device of the embodiment of the utility model, the height of expansion part is finely adjusted based on the distance change between main body part and expansion part, so that the height of the upper surface of main body part and expansion part respectively can be consistent.

Description

Technical Field

[0001] This utility model relates to a massage device that allows for fine adjustment of the height of a massage bed. Background Technology

[0002] 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.

[0003] Due to economic and time constraints, there is an increasing demand for massage devices or massage equipment that provide manual massage functions. Specifically, as the need to relieve stiff muscles and eliminate fatigue or stress through massage increases, various massage devices that are both time-efficient and cost-effective have been developed and introduced.

[0004] Recently, massage devices have been manufactured in bed-like shapes, allowing users to receive massages while lying down. These bed-type massage devices provide massage by stimulating the user's lower back and waist as the massage modules move. In these bed-type massage devices, the massage bed, which houses the massage modules, extends outward from within the frame, and its height is raised after extension. This height increase aligns with the upper surface of the bed where the user lies.

[0005] However, there is a problem that the height of the massage bed's upper surface does not match the height of the mattress's upper surface. Furthermore, fine-tuning the massage bed's height requires high-precision sensors or multiple sensors, thus increasing the overall manufacturing cost of the massage device. Utility Model Content

[0006] The problem to be solved

[0007] The technical problem of this utility model is to provide a massage device that makes the height of the unfolded part, which serves as a massage bed, and the part used to support the user's body consistent.

[0008] The technical problem of this utility model is to provide a massage device that can make fine adjustments to the height of the unfolded part.

[0009] means for solving problems

[0010] A massage device is provided according to an embodiment of the present invention. The massage device includes: a main body, a frame part including a frame part supporting the user's body, an extension part located adjacent to the main body and including an upper surface, a sensor disposed on either the main body or the extension part, and a control part for controlling the raising and lowering of the extension part; the control part adjusts the height of the extension part using the results measured by the sensor.

[0011] According to one example, it also includes a lifting unit located in the unfolded part and performing the raising and lowering of the upper surface of the unfolded part, and the control unit controls the lifting unit so that the upper surface of the unfolded part is aligned with the upper surface of the main body.

[0012] According to one example, the control unit controls the lifting unit such that the upper surface of the unfolding part coincides with at least one of the upper surface of the frame part, the upper surface of the mattress disposed on the frame part, and the upper surface of the bedding disposed on the frame part.

[0013] According to one example, the lifting unit includes: a linkage portion located on both sides of the base and frame of the unfolding portion; a lifting drive portion fastened to the linkage portion; and a sub-drive portion fastened to at least one of the linkage portions located on both sides of the frame of the unfolding portion; the control portion extends and retracts the sub-drive portion in response to the height difference between the linkage portions located on both sides of the frame of the unfolding portion.

[0014] According to one example, the sensor measures the distance between the main body and the unfolded part, and the control unit determines whether the upper surface of the unfolded part and the upper surface of the main body are consistent based on the change in the distance measured by the sensor.

[0015] According to one example, after adjusting the height of the unfolded part by means of the lifting unit, the control unit determines whether the distance between the main body and the unfolded part is equivalent to a preset distance. When the distance between the main body and the unfolded part is greater than the preset distance, the control unit stops driving the lifting unit.

[0016] According to one example, after the lifting unit stops driving, the control unit takes into account the preset height between the sensor and the upper surface of the unfolding part and restarts the lifting unit, so that the unfolding part moves in the opposite direction to the direction in which the unfolding part moves.

[0017] According to one example, after the unfolded part is drawn out from the frame part and the unfolded part is raised to a preset height by the lifting unit, the sensor is able to measure the distance between the main body part and the unfolded part.

[0018] According to one example, when the sensor is configured at a height higher than the upper surface of the main body, the sensor determines that the distance between the unfolded part and the main body is greater than a preset distance.

[0019] According to one example, multiple sensors are provided in the unfolded section. When a first distance measured by any one of the multiple sensors differs from a second distance measured by another sensor, the control unit outputs a notification or re-executes the distance measurement based on the multiple sensors.

[0020] According to one example, it also includes an identifier disposed in either the main body or the unfolded portion, the identifier being disposed in a position that can be recognized by the sensor.

[0021] According to one example, when the sensor detects the mark, the control unit stops the height adjustment of the unfolded part.

[0022] According to one example, when the sensor detects the mark, the control unit acquires information including the thickness of the mattress attached to the mark, the mark being disposed on the frame portion, and the control unit takes the thickness of the mattress into account to perform a height adjustment of the unfolded portion.

[0023] According to one example, the markings are respectively disposed on the upper part of a first side on one side of the mattress with reference to the length direction of the mattress, the lower part of a second side on the same side, the lower part of the first side on the other side, and the upper part of the second side on the other side.

[0024] According to one example, the markings are respectively disposed on a first side facing the unfolded portion and a second side facing the first side.

[0025] According to one example, the control unit determines whether the unfolded part has been completely extended from the frame part. After determining that the unfolded part has been completely extended, the control unit performs a height adjustment of the unfolded part.

[0026] According to one example, it also includes a lifting motor for raising and lowering the unfolded part. At the point when the unfolded part is fully extended, the control unit initializes the encoder value of the lifting motor and controls the lifting motor based on the preset encoder value.

[0027] According to one example, the sensor measures the distance between the sensor and the main body or the distance between the sensor and the unfolded part. When a change in the distance measured by the sensor is detected after the height adjustment of the unfolded part is performed, the control unit considers the time point at which the change in the distance measured by the sensor was detected and the change in the encoder value of the lifting motor to readjust the height of the unfolded part.

[0028] According to one example, the control unit takes into account the height from the sensor's configuration position to the upper surface of the unfolded part during the process of readjusting the height of the unfolded part.

[0029] Utility Model Effect

[0030] According to an embodiment of the present invention, the height of the unfolded part is finely adjusted based on the change in distance between the main body and the unfolded part, thereby enabling the upper surfaces of the main body and the unfolded part to be at the same height.

[0031] According to embodiments of this invention, even if the mattress rotates in multiple directions depending on the position of various markings attached to the mattress, identification between the sensor and the markings can still be achieved.

[0032] According to an embodiment of this utility model, the control unit can detect changes in the encoder value of the lifting motor from the point in time when the distance measured by the sensor exceeds the error range of a preset distance, thereby readjusting the height of the unfolding section. Furthermore, by utilizing the changes in the encoder value during the height readjustment process of the unfolding section and the encoder value of the motor sensor initialized during the initial drive of the unfolding section, the precision of subsequent height adjustments of the unfolding section can be improved. Attached Figure Description

[0033] Figure 1 This is a diagram illustrating an embodiment of the present invention: a retractable, collapsible massage device.

[0034] Figure 2 This is an example of an exploded view of an embodiment of the present invention: a retractable massage device.

[0035] Figure 3 This is a top view showing the state of a partially retractable, retractable massage device according to an embodiment of the present invention, with some components removed.

[0036] Figure 4 This is a diagram illustrating the linkage mechanism between the main body and the extension part in an extendable, retractable massage device according to an embodiment of the present invention.

[0037] Figure 5 This is a top view showing the extended and retracted states of a retractable massage device according to an embodiment of the present invention, located on the upper part of the central axis of the extension section.

[0038] Figure 6 This is a diagram illustrating a first embodiment of the guide rail in an extendable, retractable massage device according to an embodiment of the present invention.

[0039] Figure 7 This is a diagram illustrating a second embodiment of the guide rail in an extendable, retractable massage device according to one embodiment of the present invention.

[0040] Figure 8This is a diagram illustrating a third embodiment of the guide rail in an extendable, retractable massage device according to an embodiment of the present invention.

[0041] Figure 9 This is a diagram illustrating the installation position of the actuator, which serves as the drive unit, in an extendable, retractable massage device according to an embodiment of the present invention.

[0042] Figure 10 This diagram illustrates the connection relationship of the linkage mechanism of the actuator, which serves as the drive unit, in an extractable retractable massage device according to an embodiment of the present invention.

[0043] Figure 11 This is a diagram illustrating another embodiment of the connection relationship of the actuator, which serves as the drive unit, in an extendable, retractable massage device according to one embodiment of the present invention.

[0044] Figure 12 This is a diagram illustrating an embodiment of the present invention where the drive unit of an extendable, retractable massage device is formed by a rack and pinion transmission mechanism.

[0045] Figure 13 This is a diagram illustrating an embodiment of the present invention where the drive unit of an extendable, retractable massage device is formed by an actuator connected to a moving part of a linkage mechanism.

[0046] Figure 14 This is a diagram illustrating a wheel in an extendable, retractable massage device according to an embodiment of the present invention, which allows the extendable portion to move easily relative to the main body.

[0047] Figure 15 This is a perspective view of a massage device according to an embodiment of the present invention, showing the unfolded portion rising through the lifting unit.

[0048] Figure 16 yes Figure 15 A side view.

[0049] Figure 17 This is a side perspective view of the lifting unit of the massage device according to an embodiment of the present invention.

[0050] Figure 18 This is a side view of a massage device according to an embodiment of the present invention, showing a diagram of the lifting unit in the original position of the unfolded portion.

[0051] Figure 19 This is a diagram showing the lifting unit of the unfolded portion of the massage device in its original position, according to an embodiment of the present invention.

[0052] Figure 20 yes Figure 19An enlarged view of part V1.

[0053] Figure 21 yes Figure 19 An enlarged view of part V2.

[0054] Figure 22 yes Figure 19 An enlarged view of the V3 section.

[0055] Figure 23 This is a side view showing the lifting unit in the raised position of the unfolded part of an embodiment of the present invention.

[0056] Figure 24 This is a perspective view of the lifting unit of the unfolded part of the massage device in the rising position, according to an embodiment of the present invention.

[0057] Figure 25 yes Figure 24 An enlarged view of the V4 section.

[0058] Figure 26 yes Figure 24 An enlarged view of the V5 section.

[0059] Figure 27 This is a block diagram illustrating the structure of a massage device according to an embodiment of the present invention.

[0060] Figure 28 This is a block diagram illustrating an embodiment of the present invention applicable to a massage device with multiple control units.

[0061] Figure 29 This is a diagram illustrating an external device capable of communicating with a massage device according to an embodiment of the present invention.

[0062] Figure 30 This is a diagram illustrating a method for adjusting the height of the unfolded portion according to an embodiment of the present invention.

[0063] Figure 31 It is magnification Figure 30 The diagram of region A.

[0064] Figure 32 This is a diagram illustrating the markings attached to the support member in an embodiment of the present invention.

[0065] Figure 33 This is a diagram illustrating an example of the configuration position of the markings attached to the support member in an embodiment of the present invention.

[0066] Figure 34 This is another example of the configuration position of the markings attached to the support member in an embodiment of the present invention.

[0067] Figures 35A to 35C This is a diagram illustrating a method for adjusting the height of the unfolded portion in an embodiment of the present invention.

[0068] Figure 36 This is a flowchart illustrating a method for adjusting the height of the unfolded portion in an embodiment of the present invention. Detailed Implementation

[0069] The objectives, features, and advantages of this utility model become clearer from the following embodiments related to the accompanying drawings.

[0070] The specific structures and functional descriptions below are shown only to illustrate embodiments based on the concepts of this disclosure. These embodiments based on the concepts of this disclosure may be implemented in various ways and should not be construed as limited to the embodiments described in this specification or application.

[0071] Based on the embodiments of the concepts of this disclosure, 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 to limit the embodiments of the concepts of this disclosure to the specific disclosure methods, but should be understood to include all modifications, equivalents, and substitutions contained within the spirit and technical scope of this disclosure.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] Unless otherwise defined, all terms used herein, including technical or scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms as defined in a common dictionary shall be interpreted as having a 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.

[0076] 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.

[0077] In this specification, binaural beats may refer to a specific type of audio information that can control brainwaves.

[0078] The present invention will now be described in detail with reference to the accompanying drawings.

[0079] According to this invention, the massage device 10 can provide massage to at least a part of a user's body. The massage device 10 can provide any form of mechanical stimulation to the user. For example, the massage device 10 can provide massage to at least a part of the user's body through actions such as tapping, vibration, and pressing.

[0080] In one embodiment, the massage device 10 according to this invention can be implemented as a bed-type massage device that the user can lie down on. The massage device 10 is designed to be stored in basic structures such as beds, sofas, and other furniture, thereby improving user convenience and increasing space utilization.

[0081] In one embodiment, the massage device 10 according to the present invention includes a simplified operating mechanism, thereby facilitating the introduction and removal of the massage device 10. Furthermore, the massage device 10 according to the present invention includes a height-adjustable lifting mechanism, thereby greatly improving user convenience.

[0082] Figure 1 This is a diagram illustrating an embodiment of the present invention: a retractable, collapsible massage device. Figure 2 This is an example of an exploded view of an embodiment of the present invention: a retractable massage device. Figure 3 This is a top view showing the state of a partially retractable, retractable massage device according to an embodiment of the present invention, with some components removed.

[0083] Reference Figures 1 to 3 The extendable and retractable massage device 10 according to the present invention may include: a frame portion 100; an unfolding portion 200, which can be accommodated in the frame portion 100 and can be extended out from the frame portion 100; a link mechanism 300 for adjusting the distance between the frame portion 100 and the unfolding portion 200; and a massage module 400 disposed on the unfolding portion 200.

[0084] The frame portion 100 can accommodate and support the unfolded portion 200. The frame portion 100 may include a first internal frame 110 for forming an internal skeleton. The first internal frame 110 may include a plurality of frame members extending in the horizontal and / or vertical directions.

[0085] The frame portion 100 includes an internal space 120 capable of accommodating the deployable portion 200. The internal space 120 of the frame portion 100 can be divided into a storage space 121 for accommodating the deployable portion 200 and an unaccommodated space 122 for not accommodating the deployable portion 200. The unaccommodated space 122 can be formed as a hollow space, or it can be used as a separate storage space. A drive unit 500, such as an actuator, can be at least partially provided in the unaccommodated space 122. The storage space 121 can be formed on one side and / or the other side of the internal space 120 of the frame portion 100.

[0086] The frame portion 100 includes a first upper wall 101, a first lower wall 102, and two first side walls 103. The first upper wall 101 and the second lower wall 102 are arranged opposite to each other. (See reference...) Figure 1 The first upper wall 101 is disposed on the upper side, and the first lower wall 102 is disposed on the lower side.

[0087] The frame portion 100 can be implemented by various furniture and / or appliances, such as beds, sofas, and chairs. The accompanying drawings exemplarily illustrate the frame portion 100 as being implemented by a bed, but are not limited thereto. For example, when the frame portion 100 is implemented by a bed, the first upper wall 101 can be formed by the headboard of the bed, and the first lower wall 102 can be formed by the footboard of the bed. However, it is not limited thereto. When the frame portion 100 is implemented by a bed, a mattress frame 104 for supporting a mattress may be included.

[0088] The frame portion 100 includes two first sidewalls 103 disposed between the first upper wall 101 and the first lower wall 102. Each first sidewall 103 may include a first sub-sidewall 103a, configured on one side of the frame portion 100 (to...). Figure 2 (based on the left side); and the second sub-sidewall 103b, located on the other side of the frame portion 100 (with the left side as the reference); Figure 2 (Right side as reference). A massage module 400 is provided in the unfolded section 200. The massage module 400 can provide massage to a user lying in the unfolded section 200.

[0089] The unfolding section 200 includes a massage module 400 and is configured to provide massage to at least a part of the body of a user lying in the unfolding section 200.

[0090] The unfolding portion 200 is housed within the internal space 120 of the frame portion 100 and is configured to extend outward from the frame portion 100. The unfolding portion 200 can be configured to accommodate various sizes within the storage space 121 of the frame portion 100, for example, approximately half the width of the frame portion 100. The unfolding portion 200 includes a second internal frame 210 for forming an internal skeleton. The second internal frame 210 may include a plurality of frame members extending in horizontal and / or vertical directions.

[0091] The unfolding portion 200 includes a second upper wall 201 and a second lower wall 202 extending vertically, and two second side walls 203 are provided on both sides thereof. The second side walls 203 may include a third sub-side wall 203a, disposed on one side of the unfolding portion 200 (to...). Figure 2 (based on the left side); and the fourth sub-sidewall 203b, located on the other side of the unfolded portion 200 (with the left side as the reference); Figure 2 (Based on the right side).

[0092] In this specification, the direction between the first upper wall 101 and the first lower wall 102 of the frame portion 100 and / or between the first upper wall 210 and the second lower wall 202 of the unfolded portion 200 is defined as the length direction, and the direction between the two first side walls 103 of the frame portion 100 and / or between the two second side walls 203 of the unfolded portion 200 is defined as the width direction.

[0093] The massage module 400 is provided in the unfolding section 200 in a manner that allows it to provide massage to at least a part of the user's body. The massage module 400 is movable along a portion of the overall area of ​​the unfolding section 200. The unfolding section 200 includes a support surface 204 for supporting the user's body, and an opening 204a is formed in at least a portion of the support surface 204. The opening 204a is formed on the support surface 204 along its vertical length and forms a movement path for the massage module 400.

[0094] Reference Figure 2The unfolding section 200 may be a bed-type massage device that includes a massage providing section 240 consisting of a separately formed bed-type massage device. The unfolding section 200 includes a base 250 and a massage providing section 240 disposed on the base 250.

[0095] The massage providing unit 240 includes a support surface 204 for supporting the user's body. The massage providing unit 240 is configured to be mounted on a base 250. A plate-shaped support plate 242 may be disposed on the base 250 for supporting the massage providing unit 240. That is, the massage providing unit 240 can be disposed on the support plate 242.

[0096] An opening 204a is formed in the support surface 204, and the massage module 400 is configured to move along the opening 204a in the vertical length direction. A rack gear is provided inside the massage providing part 240 in the length direction. The massage module 400 moves along the rack in the vertical length direction. The support surface 204 can be covered by a cover (not shown), and the massage module 400 can contact the body part through the cover and provide massage.

[0097] Reference Figure 3 The unfolding part 200 can be a bed-type massage device that is shaped as an integral part of the massage providing part.

[0098] The unfolding section 200 is formed as a single body with a support surface 204, and a rack (not shown) is provided inside the unfolding section 200 along the length direction. The massage module 400 can be guided by the rack and can move along the opening 204a of the support surface 204 in the vertical length direction.

[0099] The unfolding portion 200 according to this invention includes various variations, such as a shape in which the massage module 400 is disposed in a separate bed-type massage device and provided, or a shape in which the massage module 400 is integrally formed with the unfolding portion 200, and is not limited to a particular embodiment. The unfolding portion 200 according to this invention includes various variations; for example, the massage module 400 can be provided to provide massage to the body of a user lying on the support surface 204.

[0100] The following, such as Figure 3 As shown, an example of an integrated bed-type massage device is described, in which the massage providing part and the unfolding part 200 are formed into one piece.

[0101] An opening 204a is formed on the support surface 204 along the vertical length direction, and the massage module 400 can provide massage while moving along the opening 204a. Figure 3The image shows the state with the cover over the support surface 204 removed, but the support surface 204 can still be covered by the cover. The massage module 400 can provide massage to the body of a user lying on the support surface 204.

[0102] As the massage module 400 moves, it can move along the height direction of the user lying on the support surface 204 from the part adjacent to the user's neck to the user's waist and provide a massage function. While moving along the rack, the massage module 400 provides mechanical stimulation to various parts of the user's body via rollers. The massage assembly 400 may include a ball massage unit or a roller massage unit, but is not limited to these.

[0103] The massage module 400 can move up and down along the opening 204a, and can also move forward and backward toward or away from the user. In this specification, such forward and backward movement is defined as the front-back movement of the massage module. Therefore, the massage module 400 moves the opening 204a up and down in the unfolded portion 200, and moves forward and backward toward or away from the user, thereby providing a massage to the user's body.

[0104] The massage module 400 can provide various massage techniques, including acupressure massage, kneading massage, tapping massage, and combined massage. Combined massage can simultaneously provide kneading and tapping massage. For example, the massage module 400 can provide massage by applying acupressure or vibration to the user's body. Additionally, the massage module 400 can move while in contact with the user's body and apply acupressure. Furthermore, the massage module 400 can apply vibration to the user's body via a vibration motor to provide massage. Additionally, the massage module 400 can move back and forth towards the user at a predetermined position to provide tapping massage.

[0105] On the other hand, the extendable and retractable massage device according to this invention may include a remote control 1 (see reference) capable of operating the movements of the massage module 300. Figure 1 However, it is not limited to this. The remote controller 1 may also include the function of extending the unfolding part 200 by driving the linkage mechanism 300.

[0106] Figure 4 This is a diagram illustrating the linkage mechanism between the main body and the extension part in an extendable, retractable massage device according to an embodiment of the present invention.

[0107] Reference Figure 4 The linkage mechanism 300 is disposed between the frame part 100 and the unfolding part 200.

[0108] The linkage mechanism 300 supports the unfolding part 200 in such a way that the unfolding part 200 can move relative to the frame part 100, thereby adjusting the separation distance between the frame part 100 and the unfolding part 200. By adjusting this separation distance, the unfolding part 200 can be accommodated in the storage space 121 within the frame part 100 or moved to the side of the frame part 100, so that it can be led out from the unfolding part 200.

[0109] The linkage mechanism 300 can be disposed between the first linkage mounting part 111 and the second linkage mounting part 211, wherein the first linkage mounting part 111 is disposed in the frame part 100 and the second linkage mounting part 211 is disposed in the unfolding part 200.

[0110] The first link mounting portion 111 may extend along the length direction inside the frame portion 100. The first link mounting portion 111 may be part of the first inner frame 110 that forms the skeleton of the frame portion 100. Alternatively, it may be provided separately.

[0111] The internal space of the main body 10 can be divided into a storage space 121 on one side and an unstored space 122 on the other side, with the first link mounting portion 111 as the boundary. In this case, the first link mounting portion 111 can form the boundary of the storage space 121. One side of the first link mounting portion 111 can be fixed to the first upper wall 101 of the frame portion 100, and the other side of the first link mounting portion 111 can be fixed to the first lower wall 102 of the frame portion 100. However, it is not limited to this.

[0112] The second link mounting portion 211 can be configured to extend along the length of the unfolded portion 200. The second link mounting portion 211 can be part of the second internal frame 210 that forms the skeleton of the unfolded portion 200, or it can be provided separately. The second link mounting portion 211 can be fixed to a third sub-side wall 203a adjacent to the frame portion 100, said third sub-side wall 203a being one of the second side walls 203 of the unfolded portion 200. Alternatively, it can be a component fixed on one side to the second upper wall 201 and on the other side to the second lower wall 202. However, it is not limited to this. The second link mounting portion 211 can be arranged parallel to the first link mounting portion 111.

[0113] One side of the linkage mechanism 300 is connected to the first linkage mounting part 111, and the other side is connected to the second linkage mounting part 211. For example... Figure 4 As shown, the linkage mechanism 300 can be formed by at least two linkage members 310 and 320 intersecting around the linkage axis 351. However, it is not limited to this and can also be formed by a single linkage member.

[0114] According to one embodiment of the present invention, the linkage mechanism 300 may be formed from a single linkage member. For example, the linkage mechanism 300 may be formed from either a first linkage member 310 or a second linkage member 320. The linkage mechanism 300 may have a movable portion on one side and a hinge portion on the other side. The movable portion of the linkage mechanism 300 is formed in one end region of the linkage mechanism 300 and can be moved along either the frame portion 100 or the unfolding portion 200 by the driving force of the drive portion 500. The hinge portion of the linkage mechanism 300 is formed in the other end region of the linkage mechanism 300 and can be engaged with the remaining hinge of the frame portion 100 and the unfolding portion 200.

[0115] For example, when the linkage mechanism 300 is formed by the first linkage member 310, the first linkage member 310 includes a first connecting portion 311 connected to the first linkage mounting portion 111 of the frame portion 100, and a second connecting portion 312 connected to the second linkage mounting portion 211 of the unfolding portion 200.

[0116] The first connecting portion 311 forms a hinge portion that is hinged to the first link mounting portion 111, while the second connecting portion 312 forms a movable portion that is movably mounted on the second link mounting portion 211.

[0117] For example, when the linkage mechanism 300 is formed by the second linkage member 320, the second linkage member 320 includes a third connecting portion 321 connected to the first linkage mounting portion 111 of the frame portion 100, and a fourth connecting portion 322 connected to the second linkage mounting portion 211 of the unfolding portion 200. The third connecting portion 321 forms a moving portion movably mounted on the first linkage mounting portion 111, and the fourth connecting portion 322 forms a hinge portion hinged to the second linkage mounting portion 211.

[0118] As described above, when the linkage mechanism 300 is formed by a single linkage member, that is, when the linkage mechanism 300 is formed by either the first linkage member 310 or the second linkage member 320, it includes a movable portion formed in one end region of the linkage mechanism 300, which can move along either the first linkage mounting portion 111 of the frame portion 100 or the second linkage mounting portion 211 of the unfolded portion 200, and includes a hinge portion formed in the other end region of the linkage mechanism 300, which hinges to the remaining one of the first linkage mounting portion 111 of the frame portion 100 or the second linkage mounting portion 211 of the unfolded portion 200.

[0119] When the linkage mechanism 300 formed by the first linkage member 310 or the second linkage member 320 rotates about the hinge portion as an axis, and the moving portion causes the linkage mounting portion to move, the length of the linkage mechanism 300 in the width direction can be changed.

[0120] According to an embodiment of the present invention, the retractable massage device 10 has a drive unit 500, one side of which can be connected to one of the frame unit 100 and the unfolding unit 200, which are equipped with hinges, and the other side of which can be connected between one end and the other end of the linkage mechanism 300. The linkage mechanism 300 extends or retracts in the width direction, thereby adjusting the distance between the unfolding unit 200 and the frame unit 100.

[0121] In one embodiment of the retractable massage device 10 of this utility model, such as Figure 4 As shown, the linkage mechanism 300 may include both a first linkage member 310 and a second linkage member 320.

[0122] In the linkage mechanism 300, the first connecting portion 311 of the first link member 310 forms a hinge portion that is hinged to the first link mounting portion 111, and the second connecting portion 312 forms a movable portion that is movably mounted on the second link mounting portion 211. Furthermore, the third connecting portion 321 of the second link member 320 forms a movable portion that is movably mounted on the first link mounting portion 111, and the fourth connecting portion 322 forms a hinge portion that is hinged to the second link mounting portion 211.

[0123] As described above, even when the linkage mechanism 300 includes a first linkage member 310 and a second linkage member 320, the linkage mechanism 300 includes a movable portion at one end region capable of moving along either the first linkage mounting portion 111 of the frame portion 100 or the second linkage mounting portion 211 of the unfolded portion 200, and a hinge portion at the other end region that is hinged to the remaining one of the first linkage mounting portion 111 of the frame portion 100 or the second linkage mounting portion 211 of the unfolded portion 200. The first linkage member 310 and the second linkage member 320 are connected to each other with the linkage axis 351 as the center.

[0124] However, when the linkage mechanism 300 includes a first linkage member 310 and a second linkage member 320, one end region of the first linkage member 310 and the second linkage member 320 may be coupled to the first linkage mounting portion 111 in different ways, and the other end regions of the first linkage member 310 and the second linkage member 320 may also be coupled to the second linkage mounting portion 211 in different ways.

[0125] For example, the first connecting portion 311, which belongs to either the first connecting portion 311 or the third connecting portion 321 belonging to one end region, forms a hinge portion, while the third connecting portion 321, which belongs to the other end region, forms a moving portion; similarly, the second connecting portion 312, which belongs to either the second connecting portion 312 or the fourth connecting portion 322 belonging to the other end region, forms a moving portion, while the fourth connecting portion 322, which belongs to the other end region, forms a hinge portion. In this case, the plurality of hinge portions formed on one end and the other end of the linkage mechanism 300 can be arranged correspondingly to each other, and the plurality of moving portions formed on one end and the other end can be arranged correspondingly to each other.

[0126] Therefore, the linkage mechanism 300 can stably perform extension or retraction actions.

[0127] The linkage mechanism 300, equipped with a first link member 310 and a second link member 320, can change its length in the width direction in the same way as a linkage mechanism 300 formed by a single link member. That is, when the first link member 310 and the second link member 320 of the linkage mechanism 300 rotate about the hinge portion and the moving portion moves the link mounting portion, the length of the linkage mechanism in the width direction can be changed.

[0128] Since the first link member 310 and the second link member 320 are connected in a operative manner via the link shaft 351, the link mechanism 300 can extend or retract in the width direction by providing a driving force of the drive unit 500 to at least one of the first link member 310 and the second link member 320, thereby adjusting the spacing distance between the unfolded part 200 and the frame part 100.

[0129] On the other hand, in the description with reference to the accompanying drawings, for ease of explanation, one end region of the linkage mechanism 300 is described as the region connected to the frame portion 100, and the other end region of the linkage mechanism 300 is described as the region connected to the extension portion 200, but this should not be interpreted as limiting. One end region of the linkage mechanism 300 may be the region connected to the extension portion 200, and the other end region of the linkage mechanism 300 may be the region connected to the frame portion 100. The one end and the other end regions of the linkage mechanism 300 should be understood from the context of the relevant description.

[0130] Figure 5 This is a top view showing the extended and retracted states of a retractable massage device according to an embodiment of the present invention, located on the upper part of the central axis of the lead-out portion.

[0131] Reference Figure 5The linkage mechanism 300 is configured to adjust the distance between the frame portion 100 and the unfolding portion 200 by pushing and pulling an area corresponding to the center of gravity of the unfolding portion 200. The center of gravity of the unfolding portion 200 corresponds to the movement path of the massage module 400. By configuring components related to the movement of the massage module 400 and / or the massage module 400, the unfolding portion 200 can have a biased weight distribution.

[0132] The unfolding section 200 is configured to provide massage when the user is lying down. As described above, the unfolding section 200 may include a massage providing section 240 consisting of a separately formed bed-type massage device, or it may be formed integrally with the massage providing section 240. In both cases, the massage module 400 is configured to be movable along the opening 204a of the upper support surface 204 of the unfolding section 200 that supports the user's body.

[0133] An opening 204a formed on the support surface 204 of the unfolding portion 200 corresponds to the user's upper body, for example, corresponding to the portion corresponding to the shoulders and back, and extends along the vertical length direction. Furthermore, a rack for guiding the movement of the massage module 400 is provided adjacent to the opening 204a, and components related to the movement of the massage module 400 are also provided. The massage module 400, as a component for providing multiple massage modes, is a relatively heavy component.

[0134] Therefore, the unfolding part 200 is not a shape with a uniform weight distribution. Instead, it includes the movement path of the massage module 400, forming a relatively large weight in the area where the massage module 400 is located, and forming the center of gravity of the unfolding part 200 in the area where the massage module 400 is located.

[0135] According to one embodiment of the present invention, since the area where the massage module 400 moves, namely the opening 204a, is formed corresponding to a part of the unfolding portion 200, for example, corresponding to the user's upper body, the center of gravity of the unfolding portion 200 can be formed in the area corresponding to the opening 204a, that is, formed on the upper side of the unfolding portion 200.

[0136] Therefore, based on the central axis l of the lead-out section that divides the length of the unfolded section 200 in half, the center of gravity of the unfolded section 200 can be located in the upper part of the central axis l of the lead-out section, which includes a relatively large number of openings 204a. The massage module 400 can temporarily partially enter the lower part of the central axis l of the lead-out section, depending on the length of the openings 204a.

[0137] However, the movement of the unfolding part 200 is usually performed when the massage module 400 is in a working standby state above the opening 204a. The center of gravity of the unfolding part 200 is formed not only by the massage module 400, but also by the combined effect of the configuration of components related to the movement of the massage module 400, such as racks. Therefore, the center of gravity of the unfolding part 200 is formed in a position that is biased towards the upper side.

[0138] According to an embodiment of the present invention, the linkage mechanism 300 is configured such that the moving region of the center of the linkage mechanism 300 is biased towards the upper side of the central axis l of the lead-out portion of the unfolded portion 200. For example, the moving region of the center of the linkage mechanism 300 may be located at the upper part of the central axis l of the lead-out portion of the unfolded portion 200.

[0139] When the linkage mechanism 300 is formed by a single linkage member, the center of the linkage mechanism 300 is formed between a hinge portion in one end region and a movable portion in the other end region. When the linkage mechanism 300 is formed by multiple linkage members, the center of the linkage mechanism 300 may be formed as a linkage shaft 351. Therefore, the center of the linkage mechanism 300 includes a linkage shaft 351.

[0140] When the linkage mechanism 300 extends and retracts along its width, the center of the linkage mechanism 300 and the linkage shaft 351 move in both the width and length directions. According to an embodiment of the present invention, the linkage mechanism 300 is connected between the frame portion 100 and the unfolding portion 200, such that the length-direction movement of the linkage mechanism 300 is biased towards the upper side of the central axis l of the lead-out portion of the unfolding portion 200; for example, the length-direction movement is performed above the central axis l of the lead-out portion of the unfolding portion 200. Therefore, the linkage mechanism 300 can adjust the separation distance between the frame portion 100 and the unfolding portion 200 by pushing and pulling the area corresponding to the center of gravity of the unfolding portion 200.

[0141] In one embodiment of the present invention, a linkage mechanism 300 is connected to a first linkage mounting portion 111 and / or a second linkage mounting portion 211, such that the upper connecting portion formed in a connecting portion in one end region and / or the other end region forms a hinge portion. Furthermore, a lower connecting portion formed in a connecting portion in one end region and / or the other end region of the linkage mechanism 300 is connected to the first linkage mounting portion 111 and / or the second linkage mounting portion 211, such that a moving portion forms a moving portion.

[0142] For example, the first connecting portion 311 disposed on the upper side of one end region of the linkage mechanism 300 and the fourth connecting portion 322 disposed on the upper side of the other end region will form a hinge portion, and the third connecting portion 321 disposed on the lower side of one end region of the linkage mechanism 300 and the second connecting portion 312 disposed on the lower side of the other end region will form a moving portion.

[0143] Since the center of the linkage mechanism 300 and the linkage shaft 351 are formed in the region corresponding to the center of gravity of the unfolding part 200, when the linkage mechanism 300 extends and retracts, the linkage mechanism 300 pushes or pulls (drags) the region corresponding to the center of gravity of the unfolding part 200.

[0144] A first connecting portion 311, disposed on the upper side of the first link member 310 of the linkage mechanism 300, forms a hinge portion and is connected to the first link mounting portion 111. A fourth connecting portion 322, disposed on the upper side of the second link member 320, forms a hinge portion and is connected to the second link mounting portion 211. A second connecting portion 312, disposed on the lower side of the first link member 310, forms a movable portion and is connected to the second link mounting portion 211. A third connecting portion 321, disposed on the lower side of the second link member 320, forms a movable portion and is connected to the first link mounting portion 111.

[0145] Therefore, when the linkage mechanism 300 is extended, the distance (i.e., the height) from the central axis l of the lead-out portion to the link shaft 351 of the linkage mechanism 300 is greater than the distance (i.e., the height) from the central axis l of the lead-out portion to the link shaft 351 of the linkage mechanism 300 when the linkage mechanism 300 is retracted.

[0146] That is, when the linkage mechanism 300 extends, the first link member 310 located below the central axis 1 of the extension section, the second connecting part 312 which is a moving part below the second link member 320, and the third connecting part 321 all move upwards towards the first link mounting part 111 and the second link mounting part 211. Therefore, when the linkage mechanism 300 extends, the position of the link shaft 351, which is the center of the linkage mechanism 30, will rise. This ensures the stability of the movement of the extension section 200.

[0147] To provide the driving force required for driving the linkage mechanism 300, an actuator 510 may be included as a drive unit 500. The drive unit 500 is not limited to the actuator 510; various drive units may be provided. For the drive unit 500, reference will be made to... Figures 9 to 13 Please provide a detailed explanation.

[0148] According to one embodiment of the present invention, a guide rail may be included to guide the movement of the moving part of the linkage mechanism 300.

[0149] Figure 6 This is a diagram illustrating a first embodiment of the guide rail in a retractable massage device according to an embodiment of the present invention.

[0150] Reference Figure 6At least one of the first link mounting portion 111 of the frame portion 100 and the second link mounting portion 211 of the unfolded portion 200 may be provided with a guide rail 610 for guiding the movement of the moving portion of the linkage mechanism 300.

[0151] When the linkage mechanism 300 is formed by a single linkage member, for example, when the linkage mechanism 300 is formed by a first linkage member 310, a first connecting part 311 is hinged to the first linkage mounting part 111 of the frame part 100, and a guide rail for guiding the movement of the second connecting part 312, which is a moving part, can be formed in the second linkage mounting part 211 of the unfolding part 200.

[0152] Additionally, for example, when the linkage mechanism 300 is formed by the second linkage member 320, a guide rail for guiding the movement of the third connecting part 321, which is a moving part, can be formed in the first linkage mounting part 111 of the frame part 100, and a fourth connecting part 322 can be hinged to the second linkage mounting part 211 of the unfolding part 200.

[0153] When the linkage mechanism 300 includes multiple linkage members, for example, when the linkage mechanism 300 includes a first linkage member 310 and a second linkage member 320, a guide rail 610 may be formed in each first linkage mounting portion 111 and second linkage mounting portion 211 to guide the movement of each moving part of the first linkage member 310 and the second linkage member 320. However, the guide rail 610 is merely one example of a guiding means provided to the main body and / or the lead-out portion for guiding the movement of the moving part, and the present invention is not limited to the guide rail.

[0154] The guide rail 610 extends a predetermined length along the length direction of the first link mounting portion 111 and the second link mounting portion 211. A moving member 301 that moves along the guide rail 610 is mounted on the moving portion of the linkage mechanism 300, and as the moving member 301 moves along the guide rail 610, the movement of the moving portion of the linkage mechanism 300 can be guided. The moving member 301 can be formed of a roller. However, it is not limited to this; bearings or bushings can also be used.

[0155] The guide rail 610 includes anti-disengagement jaws 612 to prevent the moving member 301 from disengaging. The anti-disengagement jaws 612 form the upper surface of the guide rail 610 and are disposed on both sides of an opening in the upper surface through which the moving member 301 moves, thus allowing them to extend along the guide rail. The upper opening between the anti-disengagement jaws 612 is formed to be smaller than the diameter of the moving member 301, thereby preventing the moving member 301 from disengaging from the upper part of the guide rail 610.

[0156] The guide rail 610 includes an insertion portion for inserting a movable member 301 into the inner side of the guide rail 610. The insertion portion is formed by a side opening 611 formed on the side of the guide rail. The side opening 611 is formed to be open on one and / or the other side in the length direction of the guide rail 610, thereby allowing the movable member 301 to be inserted. One side of the guide rail 610 may include the side opening 611, while the other side of the guide rail 610 may be closed to prevent the movable member 612 from disengaging. After the movable member 612 is inserted, the side opening 611 can be covered to prevent the movable member 612 from disengaging.

[0157] The driving force required for the moving member 301, which is connected to the moving part of the linkage mechanism 300, to move along the guide rail 610 can be provided by the actuator 510. One side of the actuator 510 can be connected to the first inner frame 110 of the frame part 100, while the other side of the actuator 510 can be connected between one end and the other end of the linkage mechanism 300.

[0158] The other end of the actuator 510 can be connected to the linkage shaft 521, but is not limited thereto; it can be connected between one end and the other end of the linkage mechanism 300. One side of the actuator 510 is disposed in the unreturned space inside the frame portion 100 and extends toward the linkage mechanism 300.

[0159] Figure 7 This is a diagram illustrating a second embodiment of the guide rail in the retractable massage device of this utility model.

[0160] according to Figure 7 The guide rail 610b of the second embodiment shown is according to Figure 6 Compared to the guide rail 610 of the first embodiment shown, the structure of the introduction portion into which the moving member 301 is introduced into the guide rail 610 is different. In describing the guide rail 610b according to the second embodiment, parts that are the same as or similar to those of the guide rail 610 according to the first embodiment are omitted or briefly described.

[0161] The guide rail 610b has an anti-disengagement jaw 612, which forms the upper surface of the guide rail 610 and extends along the length direction to prevent the moving member 301 from disengaging.

[0162] The guide rail 610b is an introduction portion, and includes an opening 621 formed on part of the anti-disengagement jaw 612 constituting the upper surface of the guide rail 610b. The opening 621 is formed on both sides of the anti-disengagement jaw 612, thereby creating a space for introducing the moving member 301. At this time, both sides of the guide rail 610b can be closed in the longitudinal direction.

[0163] A support member 622 is detachably mounted on the opening 621. When the support member 622 is separated, the movable member 301 can be introduced into the guide rail 610b through the opening 621, and the introduced movable member 301 can be prevented from detaching during installation.

[0164] The opening 621 includes a through portion 621a and a stepped portion 621b. The stepped portion 621b extends from the anti-disengagement jaw 612 in a stepped manner on both sides of the through portion 621a along its length. The stepped portion 621b forms an installation space for the support member 622. The openings 621 are formed on both sides of the upper part of the guide rail 610b at opposite positions to the anti-disengagement jaws 612, and the support member 622 can be installed in each opening 621.

[0165] The support member 622 includes an upper plate 622a and a locking portion 622b. The upper plate 622a extends in such a way as to block the guide rail 610b together with the anti-disengagement jaw 612. The locking portion 622b is mounted on the step portion 621b and is used to fix the support member 622. The support member 622 allows the introduction of the movable member 301 connected to the moving part of the linkage mechanism 300 by separation and fixation, and can prevent the introduced movable member 301 from disengaging.

[0166] When the movable member 301 is mounted on the guide rail 610b, assembly is made easy by placing the movable member 301 from the upper side to the lower side of the guide rail 610b, and the opening 621 constituting the inlet can be easily closed. Thus, the movable member 301 of the linkage mechanism 300 can be easily introduced into the guide rail 610b.

[0167] Figure 8 This is a diagram illustrating a third embodiment of the guide rail in the retractable massage device of this utility model.

[0168] according to Figure 8 The guide rail 610c of the third embodiment shown is according to Figure 7 Compared to the guide rail 610b of the second embodiment shown, the opening 621 forming the introduction portion is formed differently. In describing the guide rail 610c according to the third embodiment, portions that are the same as or similar to those of the guide rail 610b according to the second embodiment are omitted or briefly described.

[0169] and Figure 7 Unlike the guide rail 610b shown, the opening 621 of the guide rail 610c's inlet portion is formed by a through portion 621a' that opens to the side of the guide rail 610c.

[0170] The moving member 301 of the linkage mechanism 300 can be introduced into the sliding space 621b' via the through part 621a'.

[0171] The support member 622' is installed in the opening 621. The support member 622' is formed in the form of a first side plate 622a' inside the guide rail 610c and a second side plate 622b' outside the guide rail 610c. A space is formed between the first side plate 622a' and the second side plate 622b' that allows the movable member 301 to move.

[0172] When the movable member 310 is mounted on the guide rail 610c, it can be easily assembled within the guide rail 610 by sliding the movable member 301 on one side of the guide rail 610. Furthermore, by allowing the bracket member 622' to be detached from the side of the guide rail 610c, the opening 621 that forms the inlet can be easily opened and closed. Thus, the movable member 301 of the linkage mechanism 300 can be easily introduced into the guide rail 610c.

[0173] A retractable massage device 10 according to an embodiment of the present invention may include a drive unit 500 that provides driving force for driving the linkage mechanism 300. According to the retractable massage device 10 of the present invention, the drive unit 500 may include: actuators 510a and 510b disposed between the frame portion 100, the unfolding portion 200, and the linkage mechanism 300; and actuator 510c connected to the moving portion of the rack and pinion transmission device 520, the frame portion 100, the unfolding portion 200, and the linkage mechanism 300.

[0174] Figures 9 to 11 This diagram illustrates the connection of an actuator, which serves as a drive unit, in a retractable massage device according to an embodiment of the present invention. Figure 9 and Figure 10 The location of the actuator is shown in the figure. Figure 11 The second embodiment shows the connection relationship of the actuator.

[0175] like Figure 9 and Figure 10 As shown, the drive unit 500 is disposed between at least one of the frame unit 100 and the extension unit 200 and the linkage mechanism 300, and provides a driving force for driving the linkage mechanism 300.

[0176] The drive unit 500 may include an actuator 510, one side of which is connected to at least one of the frame unit 100 and the unfolding unit 200, while the other side is connected to the linkage mechanism 300. The actuator 510 can adjust the length between its one side and the other side, thereby driving the linkage mechanism 300.

[0177] One side of the actuator 510 is connected to the main body 100 within the unreserved space 122 of the main body 100. The portion connected to one side of the actuator 510 may be the first internal frame 110 of the main body 100 disposed within the unreserved space 122 of the main body 100. The other side of the actuator 510 is connected to the linkage mechanism 300.

[0178] Figure 9 The connection relationship between the frame 100 and the actuator 510 is shown in the diagram. Figure 9 As shown, the actuator 510 may include a fixed body 511, a linear motor 512, and a moving rod 513. The fixed body 511 is formed into a hollow rod shape, and the moving rod 513 is configured to move into the interior of the fixed body 511. The linear motor 512 is coupled to the fixed body 511 and drives the moving rod 513.

[0179] The end of the fixed body 511, which forms one end of the actuator 510, is connected to the connecting member 516 via a hinge shaft 515. The connecting member 516 can be connected to one of the first internal frames 110 within the unreceived space 122 of the main body 100. One side of the actuator 510 is connected to the main body 100 in the manner described above.

[0180] Figure 10 The connection relationship between the actuator and the linkage mechanism is shown in the figure. Figure 10 The other side of the actuator 510 can be connected to a portion of the linkage mechanism 300 from one end to the other.

[0181] For example, when the linkage mechanism 300 has a configuration with multiple linkage members 310, 320 connected, the other end of the actuator 510 can be connected to the linkage shaft 351 of the linkage mechanism 300. In this case, the driving force of the actuator 510 can be transmitted to the linkage mechanism 300 more effectively. However, it is not limited to this; the other side of the actuator 510 can be connected to a portion of the linkage mechanism 300 between one end and the other end, for example, between one end and the other end of the first linkage member 310, or between one end and the other end of the second linkage member 320.

[0182] According to one embodiment of the present invention, when the linkage mechanism 300 is formed by a single linkage member, for example, when the linkage mechanism 300 is formed by a first linkage portion 310 or a second linkage portion 320, one side of the actuator 510 is connected to one of the frame portion 100 and the unfolding portion 200 that has a hinge portion.

[0183] When the linkage mechanism 300 is composed of the first linkage member 310, one side of the actuator 510 can be connected to the frame portion 100. The other side of the actuator 510 is connected to any position between one end and the other end of the first linkage portion 310. When the linkage mechanism 300 is composed of the second linkage member 320, one side of the actuator 510 is connected to the unfolding portion 200. The other side of the actuator 510 is connected to any position between one end and the other end of the second linkage portion 320.

[0184] As described above, the other side of the actuator 510 is connected to a portion of the area between one end and the other end of the linkage mechanism 300, thereby allowing the position of either end of the linkage mechanism 300 to be changed, thus enabling the adjustment of the separation distance.

[0185] Reference Figure 11 According to a second embodiment of the actuator connection relationship, the actuator 510b can be connected between a support portion 111a extending from the first link mounting portion 111 of the main body 100 and the linkage mechanism 300. The support portion 111a on the side connected to the actuator 510b can be configured to extend vertically from the first link mounting portion 111. The support portion 111a can be part of the first inner frame 110.

[0186] The other side of the actuator 510b can be connected to any region of the linkage mechanism 300. For example, the other side of the actuator 510b can be connected between the linkage shaft 351 and the hinge portion in the first linkage portion 310 of the first linkage mounting portion 110 that is hinged to the main body portion 100. In this case, the driving force of the actuator 510b can be transmitted to the linkage mechanism 300 more efficiently.

[0187] Figure 12 This is a diagram illustrating an embodiment in which the drive unit of the retractable massage device of this utility model is formed by a rack and pinion transmission device.

[0188] According to one embodiment of the present invention, the drive unit 500 may be formed by a rack and pinion gear 520. (See also...) Figure 12 The diagram shows a drive unit formed by a rack and pinion transmission 520 disposed in the frame portion 100, but is not limited thereto. At least one moving part of the linkage mechanism 300 can guide its own movement through the rack and pinion transmission 520, thereby receiving driving force.

[0189] The rack and pinion drive 520 may include a rack 521 and a pinion 522.

[0190] The rack 521 may be provided in at least one of the frame portion 100 and the extension portion 200. For example, the rack 521 may extend along the length direction of the first link mounting portion 111 of the frame portion 100, or it may extend along the length direction of the second link mounting portion 211 of the extension portion 200.

[0191] The pinion 522 is connected to the linkage mechanism 300 and can move along the rack 521. The pinion 522 is connected to the moving part of the linkage mechanism 300 and is rotated by a drive motor (not shown). By connecting to one end of the linkage mechanism 300, the pinion 522 changes the position of one end of the linkage mechanism 300, thereby adjusting the spacing between the frame part 100 and the unfolding part 200. For example, depending on the rotation direction of the pinion 522, the moving parts of the first linkage member 310 and the second linkage member 320 reciprocate along the length direction of the first linkage mounting part 111 and the second linkage mounting part 211.

[0192] Figure 13 This is a diagram illustrating an embodiment in which the drive unit of the retractable massage device of the present invention is formed by an actuator connected to a moving part of a linkage mechanism.

[0193] Reference Figure 13 The drive unit 500 may include an actuator 510c, one side of which is connected to either the frame unit 100 or the unfolding unit 200, while the other side is connected to the moving part of the linkage mechanism 300, thereby allowing length adjustment between the two sides. The actuator 510c provides a force that directly supports and moves the moving part of the linkage mechanism 300. Therefore, guide rails or the like for guiding the movement of the moving part of the linkage mechanism 300 may not be required. However, the presence of guide rails is not excluded.

[0194] Actuator 510c may be provided in the length direction of at least one of the first link mounting portion 111 and the second link mounting portion 211 in the frame portion 100 and the unfolding portion 200. One side of actuator 510c is fixed to a side support portion 111b connected to one side of the first link mounting portion 111, and the other side is fixed to the respective moving portion or either moving portion of the first link member 310 and the second link member 320. Driven by actuator 510c, the moving portion of the first link member 310 and / or the second link member 320 may reciprocate along the length direction of the first link mounting portion 111 and the second link mounting portion 211.

[0195] When the linkage mechanism 300 is formed by a single linkage member, for example, when the linkage mechanism 300 is formed by a first linkage member 310 or a second linkage member 320, the moving part can be directly supported and driven by the actuator 510c.

[0196] When the linkage mechanism 300 includes a first linkage member 310 and a second linkage member 320 and is formed by multiple linkage members, any one moving part can be directly supported by the actuator 510c, and the other moving part can be guided by a guide rail.

[0197] As described above, the other side of the actuator 510c is connected to one end of the linkage mechanism 300 and the position of one end of the linkage mechanism 300 is changed, thereby adjusting the spacing distance between the frame portion 100 and the unfolding portion 200.

[0198] According to the present invention, in the retractable massage device 10, the actuator 510, rack and pinion transmission device 520 connected between the frame part 100 or the unfolding part 200 and the linkage mechanism, and the actuator 510c connected between the frame part 100 or the unfolding part 200 and the moving part can be combined with the first linkage mounting part 111 and the second linkage mounting part 211 in any manner and used. Additionally, guide rails 610 and 610b for guiding the movement of the moving part of the linkage mechanism 300 can be applied according to the configuration of the drive part 500.

[0199] For example, a rack and pinion drive 520 or an actuator 510c can be applied to the first link mounting portion 111, and guide rails 610 and 610b can be applied to the second link mounting portion 211.

[0200] According to one embodiment of the present invention, a retractable massage device 10 may include one or more wheels for guiding the movement of the unfolding portion 200 relative to the frame portion 100.

[0201] Figure 14 This is a diagram illustrating a wheel in a retractable massage device according to an embodiment of the present invention, which allows the lead-out portion to move easily relative to the main body.

[0202] Reference Figure 14 Wheels 231 and 232 for guiding the movement of the unfolding part 200 may be provided on at least one of the sides and bottom surfaces of the unfolding part 200.

[0203] Wheels 231 and 232, located on the bottom surface of the lead-out section 200, contact the ground and roll. The wheels 231 and 232 support the extension section 200 to move relative to the ground, and the extension section 200 is supported to move relative to the frame section 100 via the linkage mechanism 300.

[0204] Wheels 231 and 232 for guiding the movement of the unfolding section 200 may also be disposed on the side of the unfolding section 200. The wheels 231 and 232 formed on the side of the unfolding section 200 contact the frame section 100 and perform rolling motion. According to an embodiment of the present invention, the wheels 231 and 232 may be formed of casters or the like.

[0205] The first extension 221 can extend from the second upper wall 201 of the unfolded portion 200 toward the frame portion 100. The second extension 222 can extend from the second lower wall 202 of the unfolded portion 200 toward the frame portion 100. The first extension 221 extends in the width direction inside the first upper wall 101 of the frame portion 100. The second extension 222 extends in the width direction inside the first lower wall 102 of the frame portion 100.

[0206] The wheels 231 and 232 may include: a first wheel 221 supporting the movement of the extended portion 200 relative to the first upper wall 101 of the frame portion 100; and a second wheel 222 supporting the movement of the extended portion 200 relative to the first lower wall 102 of the frame portion 100. The wheels 231 and 232 are arranged in the extended portion 200 toward the frame portion 100 and are configured to contact the inner surfaces of the first upper wall 101 and the second lower wall 102 of each frame portion 100 and to perform rolling motion.

[0207] The first wheel 231 is mounted in contact with the inner surface of the first upper wall 101 of the frame portion 100 at the first extension 221. The second wheel 232 is mounted in contact with the inner surface of the first lower wall 102 of the frame portion 100 at the second extension 222. By using the first wheel 231 and the second wheel 232, friction between the unfolded portion 200 and the frame portion 100 can be minimized, thereby facilitating the storage and deployment of the frame portion 100.

[0208] Figure 15 This is a perspective view of a massage device according to an embodiment of the present invention, showing the state in which the unfolded part is raised by the lifting unit; Figure 16 yes Figure 15 A side view; Figure 17 This is a side perspective view of the lifting unit of the massage device according to an embodiment of the present invention.

[0209] like Figure 15 and Figure 16 As shown, the unfolding section 200 can be configured to raise the main body 220 of the unfolding section 200. The main body 220 is connected to... Figure 2The massage providing part 240 has a similar structure and can be a structure for supporting the user's body. Since the unfolding part 200 can be housed within the frame part 100, the height of the unfolding part 200 can be less than the height of the frame part 100. Since the unfolding part 200 can be raised and lowered, the height of the frame part 100 and the height of the main body 220 of the unfolding part 200 can be the same. Therefore, the massage device 10 provides improved user convenience and marketability.

[0210] The frame portion 100 or the unfolding portion 200 includes a bio-information sensor 4000, which determines whether a user is located on the upper surface of the unfolding portion 200. The bio-information sensor 4000 may include at least one of a weight detection sensor, radar, lidar, and ultrasonic sensor. In an embodiment of this invention, the bio-information sensor 4000, including UWB radar (ultra-wideband radar), determines whether a user is located on the upper surface of the unfolding portion 200 and can transmit this data to a control unit (not shown) for controlling the massage device 10. Alternatively, as another embodiment, the control unit (not shown) can determine whether a user is located on the upper surface of the unfolding portion 200 using a weight detection sensor located on the main body 220 of the unfolding portion 200. As described above, the bio-information sensor 4000 can perform real-time detection of whether a user is located in the unfolding portion 200 or the frame portion 100, or it can perform user-specific detection according to the setting conditions of the control unit (not shown).

[0211] The unfolding section 200 includes a lifting unit 1200, which allows the main body 220 to rise and fall relative to the base. Additionally, an airbag 5000 is included at the end of the upper surface of the main body 220, separated from the frame.

[0212] The control unit (not shown) is configured to inject air into the airbag 5000 in response to the drive of the lifting unit 1200. The control unit (not shown) can control the massage device to inject air into the airbag 5000 while driving the lifting drive unit 2500.

[0213] Furthermore, the control unit (not shown) can further deploy the airbag 5000, which is injected with predetermined air, when the upper surface of the main body 220 is raised to the same position as the upper surface of the frame portion 100 by the lifting unit 1200. That is, the control unit (not shown) can deploy the airbag 5000 while driving the lifting unit 1200, and can further inject air into the airbag 5000 when the deployment portion 200 rises to the same position as the upper surface of the frame portion 100. Therefore, the user located on the upper surface of the main body 220 can easily move to the second inner frame 210.

[0214] like Figure 17As shown, according to an embodiment of the present invention, the massage device 10 may include a lifting unit 1200. The lifting unit 1200 may be configured to include... Figure 14 The massage module 400's unfolding portion 200 is raised and lowered. Specifically, the lifting unit 1200 can raise or lower the main body 220 of the unfolding portion 200. The lifting unit 1200 can be disposed in the second inner frame 210, specifically in the space 214 within the second inner frame 210, and configured to move the main body 220. That is, the lifting unit 1200 can be configured to raise or lower the main body 220 relative to the second inner frame 210 of the unfolding portion 200. In some implementations, the lifting unit 1200 can be configured to raise the main body 220 to the same height as or above the support member 130.

[0215] Figure 18 This is a side view of a massage device according to an embodiment of the present invention, showing a diagram of the lifting unit in the original position of the unfolded portion; Figure 19 This is a diagram showing the lifting unit of the unfolded portion of the massage device in its original position, according to an embodiment of the present invention; Figure 20 yes Figure 19 An enlarged view of part V1; Figure 21 yes Figure 19 An enlarged view of the V2 section; Figure 22 yes Figure 19 An enlarged view of the V3 section.

[0216] like Figure 17 , Figure 18 and Figure 19 As shown, the lifting unit 1200 may include a connecting rod portion 1500 and a lifting drive portion 2500. The lifting unit 1200 can move the main body 220 relative to the second inner frame 210 through the movement of the connecting rod portion 1500 and the lifting drive portion 2500. The main body 220 can be connected to the second inner frame 210 via the connecting rod portion 1500. Specifically, the connecting rod portion 1500 can connect the main body 220 and the base 250 of the second inner frame 210.

[0217] According to one embodiment, the linkage 1500 may include a first linkage 1510 and a second linkage 1520. In one embodiment, the first linkage 1510 and the second linkage 1520 may be configured to intersect each other. The first linkage 1510 and the second linkage 1520 may be configured to intersect each other via a fastening shaft 1530. Furthermore, the first linkage 1510 and the second linkage 1520 may rotate relative to each other about the fastening shaft 1530. By rotating the first linkage 1510 and the second linkage 1520 relative to the fastening shaft 1530, the main body 220 may rise or fall.

[0218] like Figure 20As shown, one end of the first link 1510 can be rotatably coupled to the connecting bracket 220a provided in the main body 220. In one embodiment, the first link 1510 includes an insertion portion 1512, which can be inserted into a hole in the connecting bracket 220a. The first link 1510 can rotate about the insertion portion 1512 as a pivot point.

[0219] like Figure 21 As shown, the other end of the first connecting rod 1510 can be mounted on the first guide portion 1540 disposed in the second inner frame 210. The first guide portion 1540 can be mounted on the base 250. When the first connecting rod 1510 rotates relative to the connecting bracket 220a, the first guide portion 1540 can guide the movement of the first connecting rod 1510. The other end of the first connecting rod 1510 may include an insertion portion 1512. A roller 1514 can be mounted on the insertion portion 1512. To facilitate the movement of the first connecting rod 1510 along the first guide portion 1540, the roller 1514 mounted on the insertion portion 1512 can be configured to move within the first guide portion 1540.

[0220] One end of the second link 1520 can be rotatably engaged with the connecting bracket 250a provided in the base 250. In one embodiment, the second link 1520 includes an insertion portion 1522, which can be inserted into a hole in the connecting bracket 250a. The second link 1520 is configured to rotate about the insertion portion 1522 as an axis.

[0221] The other end of the second link 1520 can be mounted on the second guide portion 1550 provided in the second inner frame 210. The second guide portion 1550 can be mounted on the main body 220. When the second link 1520 rotates relative to the connecting bracket 250a, the second guide portion 1550 can guide the movement of the second link 1520. The roller 1524 can be mounted on the insertion portion 1522. In order to facilitate the movement of the second link 1520 along the second guide portion 1550, the roller 1524 mounted on the insertion portion 1522 can be configured to move within the second guide portion 1550. According to an embodiment of the present invention, the link portion 1500 can include two sets of first links 1510 and second links 1520. The first link 1510 and second link 1520 of the first set 1500a can be arranged on one side of the second inner frame 210, and the first link 1510 and second link 1520 of the second set 1500b can be arranged on the other side of the second inner frame 210. The first group 1500a and the second group 1500b can be configured facing each other within the second internal frame 210.

[0222] The linkage 1500 may include a drive link 1560. The first link 1510 of the first group 1500a and the second link 1520 of the second group 1500b can be connected to each other via the drive link 1560. A force applied to the drive link 1560 can act on the first link 1510 and the second link 1520 of both the first group 1500a and the second group 1500b. The force applied to the drive link 1560 can push or pull each of the first links 1510, which can cause the first links 1510 and the second links 1520 to rise or fall.

[0223] Reference Figure 22 The lifting drive unit 2500 can apply force to the drive linkage 1560. As a non-limiting example, the lifting drive unit 2500 can be a linear actuator, including an electric actuator or the like. For example, the lifting drive unit 2500 may include a lifting motor 2510, a cylinder 2520, and a drive rod 2530. The drive rod 2530 may be configured within the cylinder 2520 and extend to the outside of the cylinder 2520. Driven by the lifting motor 2510, the drive rod 2530 can extend from or retract toward the cylinder 2520.

[0224] The base 250 of the main body 220 may be equipped with a lifting drive unit 2500. The lifting drive unit 2500 can be mounted on the base 250 via a hinge portion 250b. The drive rod 2530 of the lifting drive unit 2500 is telescopic. The drive rod 2530 of the lifting drive unit 2500 can be connected to the connecting rod portion 1500. Specifically, the drive rod 2530 can be connected to the first connecting rod 1510 and the second connecting rod 1520 via a drive connecting rod 1560.

[0225] With the drive rod 2530 extended, the main body 220 is positioned in its original position. When the extended drive rod 2530 retracts, the lifting drive unit 2500 rotates relative to the hinge unit 250b, the first link 1510 rises, and thus the main body 220 can rise.

[0226] The sub-drive unit 2540 can be fastened to one of the first group 1500a or the second group 1500b located on both sides of the unfolding portion 200. Furthermore, the sub-drive unit 2540 can be configured to be fastened to a link constituting the first group 1500a or the second group 1500b. In an embodiment of this invention, the sub-drive unit 2540 can be fastened to a second link 1520 of the second group 1500b located on one side of the main body 220. When the main body 220 rises and falls in response to the driving force of the lifting drive unit 2500, and the heights at both ends of the raised and lowered main body 220 in the width direction are different, the sub-drive unit 2540 can compensate for the height difference on one side of the main body 220.

[0227] As one embodiment, the height of the upper surface of the unfolding part 200 and the height of the frame part 100 are determined by a height sensor 4100 located on a connecting rod part 1500 adjacent to the frame part 100, and whether the heights of the upper surfaces of the unfolding part 200 are the same can be determined by the difference between two height sensors 4100 fastened to the connecting rod parts 1500 located at both ends of the unfolding part 200.

[0228] In addition, as an example of this utility model, the sub-drive unit 2540 is fastened to the second link 1520 of the second group 1500b located on one side of the width direction of the main body 220. When the height of the main body 220 adjacent to the sub-drive unit 2540, as measured by the height sensor 4100, is lower than the height of the main body 220 away from the sub-drive unit 2540, the control unit can control the sub-drive unit 2540 to rise in the direction of the second link 1520 fastening the sub-drive unit 2540.

[0229] When the height of the main body 220 adjacent to the sub-drive unit 2540, as measured by the height sensor 4100, is higher than the height of the main body 220 far from the sub-drive unit 2540, the control unit can control the sub-drive unit 2540 to descend in the direction of the second link 1520 fastened to the sub-drive unit 2540.

[0230] In one embodiment of this utility model, the sub-drive unit 2540 is fastened to a connecting rod in the connecting rod portion 1500, which is spaced far from the frame portion 100. When one end of the unfolding portion 200 adjacent to the frame portion 100 is brought to the same height as the upper surface of the frame portion 100 via the lifting drive unit 2500, the control unit 600 measures the height of one end of the unfolding portion 200 where the sub-drive unit 2540 is located. When the height of one end of the unfolding portion 200 measured as described above differs from the height of the other end, the control unit 600 can perform a lengthwise extension or retraction of the sub-drive unit 2540.

[0231] Therefore, the lifting drive unit 2500 can control the lifting height of the entire main body 220. When the height of one end of the unfolding part 200 adjacent to the frame part 100 is basically the same as that of the frame part 100, the sub-drive unit 2540 can be controlled to compensate for the height difference between the two ends of the lifted main body 220 in the width direction.

[0232] Figure 23 This is a side view showing the lifting unit in the raised position of the unfolded part according to an embodiment of the present invention; Figure 24 This is a perspective view of the lifting unit of the unfolded part of the massage device in the rising position, according to an embodiment of the present invention. Figure 25 yes Figure 24 An enlarged view of the V4 section; Figure 26 yes Figure 24 An enlarged view of the V5 section.

[0233] Reference Figure 23 and Figure 24 ,like Figure 18 As shown, the unfolded section 200, positioned in its original position, can be moved to a raised position by the operation of the lifting unit 1200. When the lifting motor 2510 of the lifting drive unit 2500, located in its original position, is driven, the drive rod 2530 can retract. When the drive rod 2530 retracts, the lifting drive unit 2500 is configured to rotate about the hinge axis RA. Due to the rotation of the lifting drive unit 2500, the drive link 1560 is subjected to a lifting force, and the first link 1510 and the second link 1520 can rotate and rise about the fastening shaft 1530. Through this action, the main body 220 connected to the first link 1510 and the second link 1520 is configured to rise.

[0234] like Figure 25 As shown, when the main body 220 rises, the first link 1510 and the second link 1520 move along the first guide portion 1540 and the second guide portion 1550, respectively, thereby guiding the movement of the first link 1510 and the second link 1520. When the main body 220 descends, it moves in the opposite direction to the movement direction of the first link 1510 and the second link 1520 when they rise along the first guide portion 1540 and the second guide portion 1550, thereby guiding the movement of the first link 1510 and the second link 1520.

[0235] Height sensors 4100 are respectively disposed at two link portions 1500 located at both ends of the width direction of the unfolding portion 200. More preferably, the height sensor 4100 located at each link portion 1500 is located at the second guide portion 1550, thereby enabling the measurement of the height from the base or the first guide portion 1540 to the second guide portion 1550. Furthermore, the height sensor 4100 can be linked with the control unit (not shown) to measure the height change of the second guide portions 1550 located on both sides of the main body 220 measured by the height sensor 4100. Moreover, since the height sensors 4100 are all located at the second guide portions 1550 of the link portions 1500 consisting of two sets, the height difference between the two ends of the main body 220 in the width direction can be measured. Therefore, the control unit (not shown) receives data from the height sensors 4100 located at both ends of the main body 220 and can execute the operation of the sub-drive unit 2540 according to the height difference between the two ends of the raised and lowered main body 220.

[0236] Furthermore, the height sensor 4100, which is disposed adjacent to the frame portion 100, can determine whether the upper surface of the unfolded portion 200 and the upper surface of the frame portion 100 are at the same height. In addition, the control unit (not shown) can compensate for the height of the upper surface of the unfolded portion 200 based on the data from the height sensor 4100 and through the sub-drive unit 2540.

[0237] like Figure 26 As shown, when the main body 220 performs an upward movement, the drive rod 2530 of the lifting drive unit 2500 can move as follows: Figure 22 It contracts from its original position and rotates relative to the hinge axis RA.

[0238] Figure 27 This is a block diagram illustrating the structure of a massage device according to an embodiment of the present invention.

[0239] Reference Figure 3 , Figure 5 , Figure 17 , Figure 19 as well as Figure 27 The massage device 10 may include a control unit 600. The control unit 600 may include one or more processors. When the control unit 600 includes multiple processors, at least some of the multiple processors may be located at physically spaced distances from each other. Furthermore, the control unit 600 is not limited to this and may be implemented in various ways.

[0240] For example, the control unit 600 may be equivalent to one or more processors. The processor may be implemented by an array of multiple logic gates, or by a combination of a general-purpose microprocessor and a memory storing a program executable in the microprocessor. Furthermore, those skilled in the art to which this embodiment pertains will understand that it may also be implemented by different forms of hardware.

[0241] The control unit 600 is configured to control the operation of the massage device 10. Specifically, the control unit 600 can be configured to control the operation of the massage module 400. For example, the control unit 600 can control the massage module 400 to move along the user's height and can also control the adjustment of the height of the massage module 400. In addition, the control unit 600 can control the massage type, intensity, time, and heating temperature provided to the user through the massage module 400.

[0242] Specifically, the control unit 600 can control the massage device 10, and more specifically, it can control the operation of the massage module 400. For example, the massage module 400 may include multiple actuators, and the control unit 600 can control the operation of the multiple actuators to control the operation of the massage device 400.

[0243] For example, it may include at least one actuator included in the massage module 400, which the control unit 600 can control to control the operation of the massage device 10.

[0244] The control unit 600 can provide various massage actions by activating at least one actuator. For example, the control unit 600 can provide tapping massage, kneading massage, etc. by activating at least one actuator in the massage module 400, and is not limited to this, and can provide various massage actions.

[0245] The sliding actuator enables the massage module 400 to perform sliding movements. For example, the massage module 400 can move forward or backward in the horizontal direction by the movement of the sliding actuator.

[0246] The control unit 600 can activate the actuator 510, causing the unfolding part 200 to be drawn out from or drawn into the frame part 100. Additionally, the control unit 600 can drive the lifting unit 1200 or the lifting drive unit 2500 to raise and lower the main body 220 of the unfolding part 200, and can drive the sub-drive unit 2540 to make the heights on both sides of the main body 220 in the width direction equal.

[0247] Furthermore, the control unit 600 can control the unfolding part 200 to have the same height as the frame part 100 at a preset time according to the user's program settings.

[0248] In addition, the control unit 600 uses various sensors to determine whether the user is not in the unfolding section 200. When a predetermined time has elapsed since the user is determined to be absent from the unfolding section, the lifting unit 1200 and the actuator 510 are activated to restore the unfolding section 200. Therefore, the control body 220 of the unfolding section 200 descends, and the unfolding section 200 is restored to its state of being placed in the internal space of the frame section 100.

[0249] Here, the restored state of the unfolded part 200 may include the state in which the unfolded part 200 is introduced into the internal space of the frame part 100, or it may refer to the state in which the main body 220 of the unfolded part 200 is lowered.

[0250] The control unit 600 can receive height information from the two sides of the main body 220 in the width direction through the height sensor 4100, and can determine whether the user is located on the upper surface of the unfolding part 200 through the bio-information sensor (not shown).

[0251] In addition, when the massage program ends and it is determined that the user is on the upper surface of the unfolding part 200, the control unit 600 can drive the lifting unit 1200 so that the frame part 100 and the unfolding part 200 are at the same height.

[0252] The control unit 600 can apply mechanical stimulation to the user by controlling the movement of the massage module 400, thereby providing a massage. The control unit 600 can move the massage module 400 along the X-axis, Y-axis, and Z-axis. The control unit 600 can cause the massage ball to move forward or backward along the X-axis, Y-axis, and Z-axis. Alternatively, the control unit 600 can rotate the massage ball around the X-axis, Y-axis, and Z-axis.

[0253] According to one embodiment of the present invention, the control unit 600 can control the operation of the linear drive mechanism including the actuator 510 and the drive unit of the massage device 10 including the lifting unit 1200. Specifically, the control unit 600 provides an electrical signal to the drive unit to generate power and transmits the generated power to the unfolding part 200, thereby enabling the unfolding part 200 to move relative to the frame part 100.

[0254] In one implementation, the massage device 10 may include a storage unit 700. The storage unit 700 may store various information related to the massage device 10. For example, the storage unit 700 may include massage control information, personal authentication information, but is not limited thereto.

[0255] The storage unit 700 can be implemented using a non-volatile storage medium capable of continuously storing arbitrary data. For example, the storage unit 700 may include not only disks, optical disks, and magneto-optical storage devices, but also storage devices based on flash memory and / or battery backup memory, but is not limited to these.

[0256] Additionally, the storage unit 700 may include a memory. The memory may be random access memory (RAM) such as dynamic random access memory (DRAM) or static random access memory (SRAM), serving as the primary storage device directly accessed by the processor. It is a volatile storage device whose stored information is instantly deleted when the power is disconnected, but is not limited to this. This memory can be operated via the control unit 600.

[0257] According to one embodiment of the present invention, the massage device 10 may include a user input unit 800. The user input unit 800 can receive commands from the user related to the motion control of the unfolding part 200 or the massage module 400. The user input unit 800 may be implemented in various forms. For example, the user input unit 800 may be provided in the unfolding part 200, but is not limited thereto.

[0258] The massage device 10 can obtain various commands from the user through the user input unit 800. Specifically, the massage module 400 of the massage device 10 can receive any commands regarding the selection of the massage module, the selection of the massage mode, the selection of the massage intensity, the selection of the massage time, the selection of the massage area, the selection of the position and operation of the massage module 400, the selection of the on / off state of the power supply of the massage module 400, the selection of whether to activate the heating function, and the selection related to the playback of audio sources, but is not limited to these.

[0259] In some implementation examples, the user input unit 800 may have various buttons in the form of hot keys and / or option buttons for selecting, canceling, or inputting the direction of execution, based on preset user settings or its own preset functions.

[0260] The user input unit 800 can be implemented using a touch screen, keyboard, dome switch, touchpad (static / electrostatic), rotary dial, momentary switch, etc., but is not limited to these. Alternatively, the user input unit 800 can be based on voice recognition technology to obtain commands based on the user's voice.

[0261] The user input unit 800 may include a display for showing the operating status of the unfolding unit 200 or the massage module 400, or the user's current state. In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFTLCD), an organic light-emitting diode (OLED), a flexible display, or a 3D display, but is not limited thereto.

[0262] According to an embodiment of this invention, the massage device 10 may include an audio output module 900. The audio output module 900 is capable of providing audio output to the user in any form. In one embodiment, the audio output module 900 can be positioned arbitrarily within the unfolded portion 200. For example, the audio output module 900 may include multiple output units disposed in the user's left or right areas, such as an upper audio output unit located on the upper surface that contacts the user lying on the massage device 10, specifically on the main body 220, etc., but is not limited thereto. In this case, the audio output module 900 can provide stereo sound, such as 5.1 channels, but is not limited thereto.

[0263] The audio output module 900 can provide audio output to the user in any form. For example, the audio output module 900 can output the optimal sound source and / or binaural beats for the massage mode provided by the unfolding part 200, thereby providing brain stimulation to the user. The audio output module 900 can output sound signals received via a network (not shown) or stored in internal / external storage media (not shown).

[0264] For example, the audio output module 900 can output audio sources controlled by the user terminal via a connection to a user terminal and a network (e.g., Bluetooth connection). Additionally, the audio output module 900 can output any form of sound signal generated in association with the operation of the massage device 10.

[0265] According to an embodiment of this invention, the massage device 10 may include a network connection unit 1000. The network connection unit 1000 communicates with modules, linear drive mechanisms, lifting units 1200, and / or user terminals inside the unfolding unit 200 via any type of network.

[0266] The network connection unit 1000 may include a wired / wireless connection module for network connection. Wireless connection technologies may include, for example, Wireless LAN (WLAN) (Wi-Fi), Wireless Broadband (Wibro), World Interoperability for Microwave Access (WiMAX), and High Speed ​​Downlink Packet Access (HSDPA).

[0267] 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 1000 may include a short-range communication module capable of sending and receiving data with nearby devices or terminals. Examples of short-range communication technologies include, but are not limited to, Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), and ZigBee.

[0268] According to an embodiment of this invention, the massage device 10 may include a sensor 1100. The sensor 1100 may include at least one sensor. For example, the sensor 1100 may include a touch sensor, a pressure sensor, an infrared sensor, an LED sensor, a light sensor, a Hall effect sensor, an electrostatic sensor, a temperature sensor, etc., but these are merely examples.

[0269] As an example, sensor 1100 can be used to acquire information about the user. For instance, sensor 1100 can acquire information to identify whether the user is located on the main body 220. For example, it can acquire information about whether the user is lying on the main body 220, the user's body size, and whether the user has any abnormalities. In some implementations, the unfolded part 200 can use sensor 1100 to detect the contact area and / or contact position with the user.

[0270] As an example, sensor 1100 can be used to acquire biological information. That is, it can acquire fingerprint information, facial information, voice information, iris information, weight information, electrocardiogram information, body composition information, etc., but is not limited to these, and can include a variety of biological information.

[0271] As an example, sensor 1100 can measure the distance between the unfolded portion 200 and the main body 50. The main body 50 may include: a frame portion 100 for supporting the user's body; and a support member 130 disposed on the frame portion 100. The support member 130 may include a mattress or mat that directly contacts or supports the user's body. Sensor 1100 may be disposed on at least one of the unfolded portion 200 or the main body 50. For example, sensor 1100 may be disposed on... Figure 25 The connecting rod portion 1500 is configured to measure the distance between the unfolded portion 200 and the frame portion 100, or the distance between the unfolded portion 200 and the support member 130. The connecting rod portion 1500 is disposed on the side or lower part of the unfolded portion 200. For example, the sensor 1100 may be disposed on the side of each frame portion 100 or support member 130 to measure the distance between the unfolded portion 200 and the frame portion 100, or between the unfolded portion 200 and the support member 130. However, preferably, the sensor 1100 may be disposed on the side of the unfolded portion 200 to measure the distance between the unfolded portion 200 and the frame portion 100, and the distance between the unfolded portion 200 and the support member 130. For example, the sensor 1100 may include a proximity sensor, a light sensor, or an ultrasonic sensor, etc., as a distance sensor. The information regarding the distance between the unfolded portion 200 and the main body portion 50 measured by the sensor 1100 can be transmitted to the control unit 600. Sensor 1100 may be the same component as height sensor 4100, or it may be an additional component.

[0272] The sensor 1100 can continuously measure the distance between the unfolding section 200 and the main body 50 while the unfolding section 200 moves vertically. That is, the sensor 1100 can measure a very short distance between the unfolding section 200 and the main body 50, but when the sensor 1100 is positioned higher than the main body 50, it can measure a distance that is much longer than originally measured. If the sensor 1100 is a light sensor, when the sensor 1100 is positioned higher than the main body 50, the amount of light reflected from a specific object may be insufficient, causing the sensor 1100 to be unable to measure the distance. The control unit 600 can finely adjust the height of the unfolding section 200 based on the distance measured by the sensor 1100. The method for fine-tuning the height of the unfolding section 200 by the control unit 600 will be described later.

[0273] In addition, the massage device 10 can provide personalized massage based on the acquired information. For example, when the unfolding part 200 provides a back massage, the unfolding part 200 identifies the user's back position based on the information acquired by the sensor 1100, and can provide a back massage to the user based on the identification result.

[0274] According to an embodiment of this invention, the massage device 10 may further include a massage device control device CD. The massage device control device CD can be connected to the massage device 10 via wired and / or wireless communication.

[0275] The massage device control device CD 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 10 via wired or wireless communication.

[0276] According to an embodiment of the present invention, the height of the unfolded portion 200 is finely adjusted based on the change in distance between the main body portion 50 and the unfolded portion 200, so that the height of the upper surface of each main body portion 50 and unfolded portion 200 can be controlled to be the same.

[0277] Figure 28 This is a block diagram illustrating an embodiment of the present invention applicable to a massage device with multiple control units.

[0278] Reference Figure 5 , Figure 17 , Figure 19 , Figure 27 as well as Figure 28Multiple control units 600 may be provided in the massage device 10. Each control unit 600 may include: a first control unit 600-1 for controlling the positions of the main body 50 and the unfolding part 200; and a second control unit 600-2 for controlling components related to massage performed by a user utilizing the massage module 400 configured in the unfolding part 200. The first control unit 600-1 and the second control unit 600-2 may be physically independent processors.

[0279] The first control unit 600-1 can activate the actuator 510, causing the unfolding section 200 to extend or retract from the frame section 100. Furthermore, the first control unit 600-1 can drive the lifting unit 1200 or the lifting drive unit 2500 to raise and lower the main body 220 of the unfolding section 200, and can drive the sub-drive unit 2540 to ensure that the heights of both sides of the main body 220 are consistent in the width direction. The first control unit 600-1 can receive user input for controlling the unfolding section 200 via the user input unit 800.

[0280] The second control unit 600-2 can control the movement of the massage module 400. The second control unit 600-2 can move the massage module 400 along the X, Y, and Z axes. The second control unit 600-2 can cause the massage ball to move forward or backward along the X, Y, and Z axes. Alternatively, the second control unit 600-2 can rotate the massage ball around the X, Y, and Z axes. The second control unit 600-2 can control the heating function and sound playback based on commands received through the user input unit 800. Furthermore, the second control unit 600-2 can control the activation of the sensor 1100 used to determine whether the height of the unfolded section 200 matches the height of the main body 50, and can transmit the information received from the sensor 1100 to the first control unit 600-1. Additionally, the second control unit 600-2 can control a locking sensor used to measure whether an object or person becomes stuck between the unfolded section 200 and the main body 50 as the unfolded section 200 rises. The result value measured by the jamming sensor can be transmitted to the second control unit 600-2, which can then transmit the result value to the first control unit 600-1. The second control unit 600-2 can directly control the massage module 400 and other components related to the user's massage, and can share data about these controls with the first control unit 600-1.

[0281] Figure 29 This is a diagram illustrating an external device capable of communicating with a massage device according to an embodiment of the present invention.

[0282] Reference Figure 29The massage device 10 can communicate with the external device 3000 via the network connection unit 1000 via wired and / or wireless means to send and receive various data.

[0283] External device 3000 may include portable electronic device 3100, such as an AI speaker, tablet, or smartphone. Portable electronic device 3100 may be a dedicated or general-purpose portable electronic device for massage device 10. Additionally, external device 3000 may include wearable devices 3200 such as smartwatches and / or smart bracelets. External device 3000 may include massage chairs 3300 other than the massage device 10 currently used by the user. External device 3000 may include a hospital server 3400. External device 3000 may include a personal health record (PHR) server. Additionally, external device 3000 may include a cloud server 3500. External device 3000 may include medical measurement devices such as electronic scales, blood glucose meters, or blood pressure monitors.

[0284] Although some examples of the external device 3000 have been described in this utility model, it should be understood that any device that is wired or wirelessly connected to the massage device 10 and can send and receive information with it can be included as an external device.

[0285] Figure 30 This is a diagram illustrating a method for adjusting the height of the unfolded portion according to an embodiment of the present invention; Figure 31 It is magnification Figure 30 The diagram of region A.

[0286] Reference Figure 7 , Figure 22 , Figure 27 , Figure 30 and Figure 31 The control unit 600 can adjust the height of the unfolding section 200 using the results measured by the sensor 1100. Specifically, the control unit 600 can adjust the height of the unfolding section 200 based on the distance between the unfolding section 200 and the main body 50 measured by the sensor 1100, so that the upper surface 200a of the unfolding section 200 and the upper surface 100a of the main body 50 are aligned. The upper surface 200a of the unfolding section 200 is a surface used to support the user's body, similar to... Figure 2The support surface 204 can refer to the surface disposed on the uppermost part of the unfolded portion 200, which is movable in the vertical direction. When the support member 130 is not located on the frame portion 100, the upper surface 100a of the main body portion 50 can refer to the upper surface of the frame portion 100. When only the support member 130 is located on the frame portion 100, the upper surface 100a of the main body portion 50 can refer to the upper surface of the support member 130. When bedding, such as a quilt, is located on the support member 130, the upper surface 100a of the main body portion 50 can refer to the upper surface of the bedding. That is, the upper surface 100a of the main body portion 50 can refer to the uppermost surface of the part that supports the user's body.

[0287] Sensor 1100 can be configured on the side of the unfolding portion 200 facing the main body 50. At least one sensor 1100 can be provided. Sensor 1100 can be configured to be spaced apart from the main body 50. Sensor 1100 can be configured to be spaced apart from the frame portion 100 and the support member 130 to measure the distance between the side of the unfolding portion 200 and the frame portion 100, or the distance between the side of the unfolding portion 200 and the support member 130. If a bedding item, such as a quilt, is placed on the support member 130, sensor 1100 can also measure the distance between the side of the unfolding portion 200 and the bedding item.

[0288] As an example, multiple sensors 1100 can be provided. Preferably, the sensors 1100 can be respectively provided on one side and the other side of the unfolded portion 100. When the distance d1 between the unfolded portion 200 and the main body 50 measured by the multiple sensors 1100 is inconsistent (the same), the control unit 600 can hold an object such as a pillow 135 disposed on the upper surface 100a of the main body 50. When the sensor 1100 is positioned below the upper surface 100a of the main body 50, the distance d1 between the unfolded portion 200 and the main body 50 measured by the multiple sensors 1100 can be the same or only differ within the error range. However, when the sensor 1100 is positioned above the upper surface 100a of the main body 50, if there is no object such as a pillow 135 on the upper surface 100a of the main body 50, the distance measured by the sensor 1100 may be much greater than the predictable distance between the unfolded portion 200 and the main body 50, or the distance may not be measurable. When any of the sensors 1100 measures a distance much greater than the predictable distance d1 between the extended section 200 and the main body 50, or when the distance is unmeasurable, the control unit 600 can output an alarm to the user indicating that the object on the upper surface 100a of the main body 50 needs to be tidied up. Furthermore, after outputting the alarm, the control unit 600 can remeasure the height of the extended section 200.

[0289] The control unit 600 can adjust the height of the unfolded part 200 based on the change in the distance d1 between the unfolded part 200 and the main body 50 measured by the sensor 1100. The control unit 600 can adjust the height of the unfolded part 200 by controlling the lifting unit 1200. When the distance d1 between the unfolded part 200 and the main body 50 measured by the sensor 1100 is greater than a preset distance, the control unit 600 can stop the movement of the unfolded part 200 by stopping the drive of the lifting unit 1200. The control unit 600 can determine that the height of the upper surface 200a of the unfolded part 200 is higher than the height of the upper surface 100a of the main body 50, and thus lower the height of the unfolded part 200. For this purpose, the control unit 600 can consider changes in the encoder value of the lifting motor 2510 included in the lifting unit 1200, the height of the support member 130 obtained by the sensor 1100, and the height of the sensor 1100 disposed on the side of the unfolded part 200. The method for readjusting the height of the unfolded part 200 will be described later.

[0290] Figure 32 This is a diagram illustrating the markings attached to the support member in an embodiment of the present invention.

[0291] Reference Figure 27 , Figure 30 and Figure 32 The marker M can be configured in either the main body 50 or the unfolded part 200. Preferably, the marker M can be configured in the support member 130 of the main body 50, and the sensor 1100 can be configured in the unfolded part 200. The marker M can be configured in a position where the sensor 1100 can be identified. For example, the marker M may include a magnet, an electronic tag, an NFC tag, a magnetic tag, a QR code, and a reflective tag, and the sensor 1100 may include a Hall sensor, a tag reader, and an optical scanner that can identify markers M1, M2, M3, and M4.

[0292] As an example, when the upper surface 100a of the main body 50 coincides with the upper surface 200a of the unfolded part 200, the mark M can be positioned at the same height as the sensor 1100. Specifically, the mark M can be positioned at the uppermost end of the side of the support member 130, and the sensor 1100 can be positioned at the uppermost end of the side of the unfolded part 200. When the sensor 1100 detects the mark M, the control unit 600 can stop the operation of the unfolded part 200. Therefore, at the instant the sensor 1100 detects the mark M, the upper surface 100a of the main body 50 and the upper surface 200a of the unfolded part 200 can be aligned.

[0293] As an example, sensor 1100 can acquire information related to the support member 130 to which the label M is attached, as well as information related to the current height of the unfolding section 200, by recognizing the label M. When the support member 130 is a mattress and sensor 1100 recognizes the label M, control unit 600 can acquire information including the thickness of the mattress attached to the label M, which is disposed on frame section 100. Having predetermined the position of the label M on the side of the mattress, control unit 600 can determine the time to stop the operation of unfolding section 200 by considering the time point when sensor 1100 recognizes label M, the placement position of label M on the side of the mattress, information about the mattress thickness, and the position of sensor 1100 on the side of unfolding section 200. In short, control unit 600 can perform height adjustment of unfolding section 200 by considering the thickness of the mattress.

[0294] According to an embodiment of the present invention, the control unit 600 can determine the different thicknesses of each mattress based on the identification of the mark M, thereby improving the precision of the height adjustment of the unfolding part 200, which takes into account the mattress height.

[0295] Figure 33 This is a diagram illustrating an example of the configuration position of the markings attached to the support member in an embodiment of the present invention.

[0296] Reference Figure 27 , Figure 30 and Figure 33 Users can use the mattress by reversing its configuration orientation as the support member 130. Therefore, when a specific marker is positioned only at a specific location on the side of the mattress, the sensor 1100 may not be able to recognize it. Furthermore, since the position of the specific marker measured by the sensor 1100 differs from the position of the marker stored in the control unit 600, there is a possibility of error in the height adjustment of the unfolding section 200. Therefore, multiple markers M1, M2, M3, and M4 can be provided at different locations on the side of the support member 130.

[0297] As an example, the identifiers M1, M2, M3, and M4 may include: a first identifier M1, positioned on the upper part of a first side of one side, based on the length direction of the mattress serving as the support member 130; a second identifier M2, positioned on the lower part of a second side of the same side; a third identifier M3, positioned on the lower part of the first side of the other side; and a fourth identifier M4, positioned on the upper part of the second side of the other side. One side of the support member 130 may be adjacent to the area where a person's head is located, and the other side of the support member 130 may be adjacent to the area where a person's legs are located. To shorten the wiring distance between the sensor 1100 and the control unit 600, the sensor 1100 may be positioned on the upper part of the other side of the unfolded part 200. One side of the unfolded part 200 may be adjacent to the area where a person's head is located, and the other side of the unfolded part 200 may be adjacent to the area where a person's legs are located.

[0298] When the first side of the support member 130 faces the unfolded part 200, the sensor 1100 can identify the first mark M1 or the third mark M3. Specifically, when the positions of the upper and lower surfaces of the support member 130 change, the sensor 1100 can identify either the first mark M1 or the third mark M3.

[0299] When the second side of the support member 130 faces the unfolded part 200, the sensor 1100 can identify the second mark M2 or the fourth mark M4. Specifically, when the positions of the upper and lower surfaces of the support member 130 change, the sensor 1100 can identify either the second mark M2 or the fourth mark M4.

[0300] Unlike the example above, in the case of a mattress with a fixed upper surface, the positions of the upper and lower surfaces of the mattress may not be interchangeable. That is, the mattress can rotate while its upper surface is fixed. Therefore, it is possible to provide only the first marking M1 and the fourth marking M4, which are configured on the upper part of the side of the mattress.

[0301] Figure 34 This is another example of the configuration position of the markings attached to the support member in an embodiment of the present invention.

[0302] Reference Figure 27 , Figure 31 and Figure 34The identifiers M5 and M6 may include: a fifth identifier M5, disposed at the center of the first side facing the unfolding section 200; and a sixth identifier M6, disposed at the center of each of the second sides facing the first side. The sensor 1100 may be disposed at the center of the side of the unfolding section 200. When the sensor 1100 is disposed at the center of the side of the unfolding section 200, even if the positions of the upper and lower surfaces of the mattress, which serves as the support member 130, are interchanged, the sensor 1100 can identify either the fifth identifier M5 or the sixth identifier M6. Due to the position of the sensor 1100 disposed at the center of the side of the unfolding section 200, even if the mattress rotates in various directions, it can be activated by the two identifiers M5 and M6 disposed on the two sides of the mattress.

[0303] Unlike the example above, when the user identifies the identifier via mobile phone and adjusts the height of the unfolded part 200 via mobile phone, the identifier, which includes information about the mattress, can be positioned in an easily identifiable location, such as on the upper surface of the mattress, so that the user can easily identify the identifier via mobile phone.

[0304] Figures 35A to 35C This is a diagram illustrating a method for adjusting the height of the unfolded portion in an embodiment of the present invention. Figure 35A , Figure 35B and Figure 35C The unfolded part 200 can specifically refer to the main body 220.

[0305] Reference Figure 2 , Figure 24 , Figure 27 , Figure 31 and Figure 35A After the unfolding section 200 is fully extended from the frame section 100, the control unit 600 can adjust the height of the unfolding section 200. The distance between the unfolding section 200 and the main body section 50 cannot be measured by the sensor 1100 until the unfolding section 200 is completely extended from the frame section 100. After the unfolding section 200 is raised to a preset height by the lifting unit 1200, the sensor 1100 can measure the distance between the frame section 100 and the unfolding section 200. The sensor 1100 is positioned on the side of the main body 220, where its position within the unfolding section 200 changes, so that the sensor 1100 can measure the distance between the frame section 100 and the unfolding section 200 after the main body 220 is exposed outside the second inner frame 210. Therefore, after the main body 220 is raised to the preset height, the sensor 1100 can measure the distance between the frame section 100 and the unfolding section 200.

[0306] At the point when the height adjustment of the unfolded section 200 or the main body 220 begins or when the unfolded section 200 is fully extended, the control unit 600 can initialize the encoder value of the motor sensor 2515. The control unit 600 can specify the limit value of the motor sensor 2515 or initialize the encoder value based on the lowest point of the height of the unfolded section 200 or the main body 220, thereby determining how much the height of the unfolded section 200 or the main body 220 has increased. Hereinafter, the unfolded section 200 or the main body 220, which is a component subject to height adjustment, will be referred to as the unfolded section 200. The storage unit 700 can store the encoder values ​​used to determine the degree of height adjustment of the unfolded section 200.

[0307] Reference Figure 24 , Figure 27 , Figure 31 and Figure 35B The control unit 600 can control the lifting unit 1200 so that the upper surface 200a of the unfolding part 200 coincides with the upper surface 100a of the main body 50, which represents any one of the upper surface of the frame part 100, the upper surface of the mattress disposed on the frame part 100, and the upper surface of the bedding disposed on the frame part 100. The sensor 1100 can continuously measure the distance between the unfolding part 200 and the frame part 100 or the distance between the unfolding part 200 and the support member 130. There may be slight differences between the distance between the unfolding part 200 and the frame part 100 and the distance between the unfolding part 200 and the support member 130, but the differences can be within an error range based on a preset distance.

[0308] The control unit 600 can determine whether the upper surface 200a of the unfolded part 200 and the upper surface 100a of the main body 50 are aligned based on changes in distance measured by the sensor 1100. After starting height adjustment of the unfolded part 200 via the lifting unit 1200, the control unit 600 can determine whether the distance between the main body 50 and the unfolded part 200 is within a preset distance. When it is determined that the distance between the unfolded part 200 and the main body 50 measured by the sensor 1100 is greater than the preset distance, this may refer to a situation where the height of the sensor 1100 is higher than the height of the upper surface 100a of the main body 50. That is, when the distance between the unfolded part 200 and the main body 50 measured by the sensor 1100 is greater than the preset distance, the control unit 600 can determine that the height of the upper surface 200a of the unfolded part 200 is higher than the height of the upper surface 100a of the main body 50. Specifically, when the distance between the unfolded portion 200 and the main body 50, as measured by the sensor 1100, exceeds a preset distance error range, the control unit 600 can determine that the height of the upper surface 200a of the unfolded portion 200 is higher than the height of the upper surface 100a of the main body 50. The control unit 600 can then stop the driving of the lifting unit 1200 to halt height adjustment in one direction of the unfolded portion 200.

[0309] Reference Figure 24 , Figure 27 , Figure 31 and Figure 35C When a change in distance measured by sensor 1100 is detected after adjusting the height of the deployable section 200, the control unit 600 can consider the time point at which the change in distance was detected and the change in the encoder value of the lifting motor 2510, thereby readjusting the height of the deployable section 200. After the drive of the lifting unit 1200 has been stopped, the control unit 600 can restart the lifting unit 1200, causing the deployable section 200 to move in the opposite direction to the direction in which it moved.

[0310] As an example, the control unit 600 can move the deployable part 200 in another direction by considering a preset height between the sensor 1100 and the upper surface 200a of the deployable part 200. By considering the time point when the distance measured by the sensor 1100 is greater than the preset distance, and the distance difference between the upper surface 200a of the deployable part 200 and the position where the sensor 1100 is located, the distance that the deployable part 200 needs to move in the other direction can be calculated. Therefore, the control unit 600 can re-drive the lifting unit 1200 based on the calculated movement distance in the other direction to lower the height of the deployable part 200.

[0311] As an example, the control unit 600 can begin to grasp the change in encoder value from the point in time when the distance measured by sensor 1100 exceeds the error range of a preset distance. This encoder value can represent the degree to which the lifting motor 2510 is driven. That is, considering the change in encoder value after the point in time when the height of the upper surface 200a of the unfolding section 200 becomes higher than the height of the upper surface 100a of the main body 50, the height of the unfolding section 200 can be readjusted by driving the lifting motor 2510 in the opposite direction to the existing driving direction. Since the encoder value of the motor sensor 2515 is initialized at the initial drive time of the lifting unit 1200, the control unit 600 can grasp the total change in encoder value required for height adjustment of the unfolding section 200. Subsequently, when adjusting the height of the unfolding section 200, the control unit 600 can improve the precision of the height adjustment of the unfolding section 200 by simultaneously considering the measurement value of sensor 1100 and the change in encoder value.

[0312] According to an embodiment of this utility model, the control unit 600 begins to monitor the change in the encoder value of the lifting motor 2510 from the point in time when the distance measured by the sensor 1100 exceeds the error range of a preset distance, thereby enabling the readjustment of the height of the unfolding section 200. Furthermore, based on the change in the encoder value during the height readjustment process of the unfolding section 200 and the encoder value of the motor sensor 2515 initialized during the initial drive of the unfolding section, the precision of subsequent height adjustments of the unfolding section 200 can be improved.

[0313] Figure 36 This is a flowchart illustrating a method for adjusting the height of the unfolded portion in an embodiment of the present invention.

[0314] Reference Figure 36 The control unit can control the lifting unit to adjust the height of the unfolding section. The control unit can control the lifting unit after the unfolding section has been fully extended outside the frame section. At the point when the unfolding section has been fully extended outside the frame section or at the point when the lifting unit starts to drive, the control unit can initialize the encoder value of the lifting motor (step S100).

[0315] The sensor can continuously measure the distance between the main body and the unfolded part. Specifically, after the main body of the unfolded part is exposed outside the frame of the unfolded part, the sensor can measure the distance between the unfolded part and the frame part or the distance between the unfolded part and the supporting member (step S200).

[0316] The control unit can determine whether the distance between the main body and the unfolded part, as measured by the sensor, is greater than a preset distance, or whether it is greater than the upper limit of the preset distance error range. The distance between the main body and the unfolded part being greater than the preset distance or greater than the upper limit of the preset distance error range can refer to the sensor's mounting height being higher than the upper surface of the main body. If the distance between the main body and the unfolded part, as measured by the sensor, is less than or within the preset distance error range, the control unit can continuously drive the lifting unit (step S300).

[0317] If the distance between the main body and the unfolded part measured by the sensor is greater than a preset distance or greater than the upper limit of the preset distance error range, the control unit may stop driving the lifting unit (step S400).

[0318] The control unit can perform fine-tuning of the height of the unfolding section by re-driving the lifting unit in the opposite direction to the direction in which the lifting unit moves.

[0319] As an example, in order to fine-tune the height of the unfolded part, the control unit can consider a preset height to perform a readjustment of the height of the unfolded part, wherein the preset height is the distance difference between the position of the sensor on the side of the unfolded part and the upper surface of the unfolded part.

[0320] As an example, the control unit uses a time point, based on a time point where the distance between the main body and the unfolded part measured by the sensor is greater than a preset distance or greater than the upper limit of the error range of the preset distance, as a reference, and performs a readjustment of the height of the unfolded part, taking into account changes in the encoder value of the lifting motor. Even in this case, the control unit can consider a preset height, which is the distance difference between the position of the sensor disposed on the side of the unfolded part and the upper surface of the unfolded part (step S500).

[0321] The control unit can store the change in encoder value in the storage unit during the height readjustment of the unfolded section. Considering the total change in initialized encoder value and the change in encoder value during the height readjustment of the unfolded section, the change in the encoder value of the lifting motor required to make the upper surface of the unfolded section match the upper surface of the main body can be determined. The control unit can use the determined encoder value of the lifting motor to adjust the control quantity of the lifting motor if the height of the unfolded section needs to be adjusted in the future. However, when the height of the unfolded section is adjusted multiple times, due to aging of the motor or the lifting unit, it may be necessary to correct the previously stored encoder value. Therefore, the control unit can periodically redetermine the change in the encoder value of the lifting motor required to make the upper surface of the unfolded section match the upper surface of the main body (step S600).

Claims

1. A massage device, characterized in that, include: The main body, including the frame that supports the user's body, The unfolded portion, located adjacent to the main body portion, includes an upper surface. The sensor is disposed in either the main body or the extended portion, and The control unit controls the raising and lowering of the unfolding section; The control unit uses the results measured by the sensor to adjust the height of the unfolded part.

2. The massage device according to claim 1, characterized in that, It also includes a lifting unit, which is located in the unfolding section and performs the raising and lowering of the upper surface of the unfolding section. The control unit controls the lifting unit so that the upper surface of the unfolding part is aligned with the upper surface of the main body.

3. The massage device according to claim 2, characterized in that, The control unit controls the lifting unit so that the upper surface of the unfolding part coincides with at least one of the upper surface of the frame part, the upper surface of the mattress disposed on the frame part, and the upper surface of the bedding disposed on the frame part.

4. The massage device according to claim 2, characterized in that, The lifting unit includes: The connecting rod is located on both sides of the base and frame of the unfolding section. The lifting drive unit is fastened to the connecting rod unit, and The sub-drive unit is fastened to at least one of the connecting rods located on both sides of the frame of the unfolded part; The control unit extends and retracts the sub-drive unit in response to the height difference between the connecting rods located on both sides of the frame of the unfolding section.

5. The massage device according to claim 2, characterized in that, The sensor measures the distance between the main body and the unfolded part. The control unit determines whether the upper surface of the unfolded part and the upper surface of the main body are consistent based on the change in distance measured by the sensor.

6. The massage device according to claim 5, characterized in that, After adjusting the height of the unfolded section via the lifting unit, the control unit determines whether the distance between the main body and the unfolded section is equivalent to a preset distance. When the distance between the main body and the unfolding part is greater than the preset distance, the control unit stops driving the lifting unit.

7. The massage device according to claim 6, characterized in that, After the lifting unit stops driving, the control unit takes into account the preset height between the sensor and the upper surface of the unfolding part and restarts the lifting unit, so that the unfolding part moves in the opposite direction to the direction in which the unfolding part moves.

8. The massage device according to claim 5, characterized in that, After the unfolded part is led out from the frame part and rises to a preset height by the lifting unit, the sensor is able to measure the distance between the main body and the unfolded part.

9. The massage device according to claim 8, characterized in that, When the sensor is positioned at a height higher than the upper surface of the main body, the sensor determines that the distance between the unfolded part and the main body is greater than a preset distance.

10. The massage device according to claim 1, characterized in that, Multiple sensors are provided in the unfolded section. When a first distance measured by any one of the multiple sensors differs from a second distance measured by another sensor, the control unit outputs a notification or re-executes the distance measurement based on the multiple sensors.

11. The massage device according to claim 1, characterized in that, It also includes an identifier configured in either the main body or the unfolded portion. The identifier is positioned in a location that can be recognized by the sensor.

12. The massage device according to claim 11, characterized in that, When the sensor detects the mark, the control unit stops adjusting the height of the unfolded part.

13. The massage device according to claim 11, characterized in that, When the sensor detects the label, the control unit acquires information including the thickness of the mattress attached to the label, the label being disposed on the frame portion. The control unit takes into account the thickness of the mattress when performing height adjustments on the unfolding section.

14. The massage device according to claim 11, characterized in that, The markings are respectively disposed on the upper part of a first side on one side of the mattress with the length direction as a reference, the lower part of a second side on the same side, the lower part of the first side on the other side, and the upper part of the second side on the other side.

15. The massage device according to claim 11, characterized in that, The markings are respectively disposed on a first side facing the unfolded portion and a second side facing the first side.

16. The massage device according to claim 1, characterized in that, The control unit determines whether the unfolding part has been successfully drawn out from the frame part. After determining that the unfolded part has been successfully extended, the control unit performs a height adjustment of the unfolded part.

17. The massage device according to claim 16, characterized in that, It also includes a lifting motor for raising and lowering the unfolded section. At the point when the unfolded part is fully extended, the control unit initializes the encoder value of the lifting motor and controls the lifting motor based on the preset encoder value.

18. The massage device according to claim 17, characterized in that, The sensor measures the distance between the sensor and the main body or the distance between the sensor and the unfolded part. When a change in distance measured by the sensor is detected after the height adjustment of the deployed section is performed, the control unit considers the time point at which the change in distance measured by the sensor was detected and the change in the encoder value of the lifting motor to readjust the height of the deployed section.

19. The massage device according to claim 18, characterized in that, The control unit takes into account the height from the sensor's configuration position to the upper surface of the unfolded part during the process of readjusting the height of the unfolded part.

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