Massage device

Abstract

The utility model discloses a massage device, it is the massage device of providing safety function can insert and pull out, the massage device can include: first support part, form the accommodation space of second support part, second support part includes setting up and provides the massage of user's body to the massage module, and second support part sets up and can move along the prearranged insertion or pull -out direction relative to first support part, actuator module sets up first support part and provides the driving force for the movement of second support part, and control portion, uses the load measurement result of actuator module to control the movement of second support part.

Description

Technical Field

[0001] This application relates to a massage device that is insertable and pullable and provides safety features. Background Technology

[0002] Massage refers to applying various forms of mechanical stimulation to specific parts of the body, such as kneading, pressing, stretching, patting, or inducing physical activity, to adjust the body's condition, promote blood circulation, and relieve fatigue.

[0003] Due to economic and time constraints, there is an increasing demand for massage devices or 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 designed in bed form, 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.

[0005] On the other hand, traditional bed-type massage devices must be at least as long as the user's height, resulting in a large size. Therefore, there is a need to develop a massage device that can reduce size, safely provide massage to the user's body, and thus offer a more effective and faster massage.

[0006] In this regard, there is a need to develop a new type of massage device that is configured in the lower space of a standard bed frame, so that the massage device is normally inserted into the lower side of the bed frame, and is pulled out to the outside of the bed frame for use when the user is receiving a massage.

[0007] The technology that forms the background of this application is disclosed in Korean Patent Publication No. 10-2381262. Utility Model Content

[0008] The problem to be solved

[0009] This application aims to solve the aforementioned problems in the prior art and provides a massage device with a pull-out massage module. When the massage function is not provided, the massage module is inserted into the lower side of the support of a bed frame or the like. In order to provide massage to the user, it can be pulled out to the outside of the support and used.

[0010] However, the technical problems to be solved by the embodiments of this application are not limited to the technical problems described above, and other technical problems may also exist.

[0011] means for solving problems

[0012] As a technical means to solve the above-mentioned technical problems, an insertable and pull-out massage device with safety function according to an embodiment of this application includes: a first support portion forming a receiving space for a second support portion; a second support portion including a massage module configured to provide massage to a user's body, and the second support portion being configured to move relative to the first support portion in a predetermined insertion or pull-out direction; an actuator module disposed in the first support portion and providing a driving force for the movement of the second support portion; and a control unit using a load measurement result of the actuator module to control the movement of the second support portion.

[0013] In addition, the massage device may also include a safety sensor portion disposed on at least one of the first support portion and the second support portion; the safety sensor portion may include a first safety sensor disposed on the outer surface of the second support portion.

[0014] Additionally, an inwardly recessed embedment space can be formed on the outer surface of the second support portion, and the first safety sensor can be configured to be accommodated in the embedment space.

[0015] Additionally, the safety sensor unit may also include a second safety sensor, which is disposed in an opening on one side of the receiving space. When the second support unit moves in the insertion or pull-out direction, at least a portion of the second support unit passes through the opening on one side of the receiving space.

[0016] Additionally, the first support may include a horizontal frame and a pair of vertical frames, the pair of vertical frames being connected to the two ends of the horizontal frame to form the receiving space, and the second safety sensor may be configured on the inner surfaces of the horizontal frame and the pair of vertical frames forming the opening.

[0017] Additionally, the safety sensor unit may include: a hollow flexible tube; and a pair of conductive members housed inside the hollow flexible tube, wherein when the hollow flexible tube deforms due to external force, the pair of conductive members generate a signal corresponding to the detection result regarding whether the safety sensor unit is in contact with an external object.

[0018] Additionally, the safety sensor unit may include: a first safety sensor that detects contact between an external object and the outer surface of the second support portion, which moves in an outward direction based on the insertion or pull-out direction; and a second safety sensor that detects an external object lodged in the space between the second support portion and the first support portion, which moves in an inward direction based on the insertion or pull-out direction.

[0019] Additionally, according to an embodiment of this application, the insertable and pull-out massage device with safety functions may further include an insertion / exit detection unit disposed on at least one of the first support portion and the second support portion, and the insertion / exit detection unit is configured to detect state information related to the movement of the second support portion along the insertion or pull-out direction.

[0020] In addition, the entry / exit detection unit may include a first support sensor disposed on the first support and a second support sensor disposed on the second support. When the second support moves along the insertion or pull-out direction, the control unit may grasp the status information based on the detection result indicating the proximity state between the first support sensor and the second support sensor.

[0021] Additionally, the first support sensor may include: a first type sensor disposed on the first support such that it is opposite to the second support sensor when the second support is in an inserted state; and a second type sensor disposed on the first support such that it is opposite to the second support sensor when the second support is in a pulled-out state.

[0022] In addition, the first support sensor may also include a third type of sensor, with the insertion or pull-out direction as a reference. The third type of sensor is disposed between the first type of sensor and the second type of sensor. The control unit can control the moving speed of the second support based on the detection result of the relative state of the second support sensor and the third type of sensor.

[0023] Additionally, the third type of sensor can be configured to be closer to the first type of sensor than the second type of sensor.

[0024] In addition, the second support sensor may have a pair of second support sensors arranged spaced apart in the vertical direction, the setting height of either of the pair of second support sensors may correspond to the setting height of the first type of sensor, and the setting height of the other of the pair of second support sensors may correspond to the setting height of the third type of sensor.

[0025] Additionally, the second type of sensor may have a pair of second type sensors configured to correspond to the setting height of the pair of second support sensors, respectively.

[0026] In addition, the length of each of the first type of sensor and the second type of sensor, based on the insertion or pull-out direction, can be greater than the height based on the up-down direction.

[0027] In addition, the length of the first type of sensor or the second type of sensor based on the insertion or pull-out direction may be greater than the length of the third type of sensor based on the insertion or pull-out direction.

[0028] As a technical means to solve the above-mentioned technical problems, an insertable and pull-out massage device with safety function according to an embodiment of this application includes: a first support portion forming a receiving space for a second support portion; a second support portion including a massage module configured to provide massage to a user's body, and the second support portion being configured to move relative to the first support portion in a predetermined insertion or pull-out direction; a safety sensor portion disposed in at least one of the first support portion and the second support portion; and a control portion using the detection result of the safety sensor portion to control the movement of the second support portion; the safety sensor portion including a first safety sensor disposed at the lower end of the outer surface of the second support portion.

[0029] Additionally, an inwardly recessed embedment space can be formed on the outer surface of the second support portion, and the first safety sensor can be configured to be accommodated in the embedment space.

[0030] Additionally, the safety sensor unit may also include a second safety sensor, which is disposed in an opening on one side of the receiving space. When the second support unit moves in the insertion or pull-out direction, at least a portion of the second support unit passes through the opening on one side of the receiving space.

[0031] Additionally, the first support may include a horizontal frame and a pair of vertical frames, the pair of vertical frames being connected to the two ends of the horizontal frame to form the receiving space, and the second safety sensor may be configured on the inner surfaces of the horizontal frame and the pair of vertical frames forming the opening.

[0032] Additionally, the safety sensor unit may include: a hollow flexible tube; and a pair of conductive members housed inside the hollow flexible tube, wherein when the hollow flexible tube deforms due to external force, the pair of conductive members generate a signal corresponding to the detection result regarding whether the safety sensor unit is in contact with an external object.

[0033] Additionally, the safety sensor unit may include: a first safety sensor that detects contact between an external object and the outer surface of the second support portion, which moves in an outward direction based on the insertion or pull-out direction; and a second safety sensor that detects an external object stuck in the space between the second support portion and the first support portion, which moves in an inward direction based on the insertion or pull-out direction.

[0034] Additionally, the insertable and pull-out massage device that provides safety features may further include an insertion / exit detection unit disposed in at least one of the first support portion and the second support portion, and the insertion / exit detection unit is configured to detect state information related to the movement of the second support portion along the insertion or pull-out direction.

[0035] In addition, the entry / exit detection unit may include a first support sensor disposed on the first support and a second support sensor disposed on the second support. When the second support moves along the insertion or pull-out direction, the control unit may grasp the state information based on the detection result indicating the proximity state between the first support sensor and the second support sensor.

[0036] Additionally, the first support portion may have an actuator module that provides a driving force for the movement of the second support portion.

[0037] In addition, the control unit can use the load measurement results of the actuator module to control the movement of the second support unit.

[0038] As a technical means to solve the above-mentioned technical problems, an insertable and pull-out massage device according to an embodiment of this application includes: a first support portion forming a receiving space for a second support portion; a second support portion including a massage module configured to provide massage to a user's body, and the second support portion being configured to move relative to the first support portion in a preset insertion or pull-out direction; and a control portion recognizing state information of the second support portion and controlling the movement of the second support portion or controlling the action of the massage module based on the state information, the state information including an insertion state in which the second support portion is inserted into the receiving space and a pull-out state in which the second support portion is pulled out of the receiving space to the outermost side and protrudes outward from the first support portion, for the second support portion corresponding to the pull-out state, when at least one of the state associated with the massage function drive of the massage module and the state of the second support portion satisfies a preset automatic insertion condition, the control portion controls the movement of the second support portion, causing the second support portion to switch to the insertion state.

[0039] Additionally, the status information may also include a movement state in which the second support moves along the insertion or pull-out direction to switch between the insertion state and the pull-out state.

[0040] In addition, when the second support is in the pulled-out state, the control unit can determine that it is in a state capable of driving the massage function of the massage module.

[0041] In addition, a user operation module may be provided in the second support section, and the control unit may control the movement of the second support section based on user input applied to the user operation module.

[0042] In addition, the user operation module can receive user input, which includes a first input for inserting the second support into the receiving space, a second input for pulling the second support out of the receiving space, and a third input for switching the user operation module to a locked state or a locked-out state.

[0043] In addition, the insertable and pullable massage device may also include an output unit configured to output prompt information. When the user input is applied in the massage module in the massage function driving state, the output unit may output the prompt information to indicate that the second support part cannot be moved according to the user input.

[0044] In addition, the control unit can control the moving speed of the second support unit based on the identified status information.

[0045] In addition, the automatic insertion condition may include a condition that the duration of the second support's pulled-out state has elapsed through a preset critical time.

[0046] Additionally, the automatic insertion conditions may include conditions where the massage module corresponds to a state where the massage function is not activated.

[0047] Additionally, a remote control storage module may be provided in the second support section. The remote control storage module has a storage space for inserting a remote control that receives control input related to the massage function drive of the massage module. When the remote control is not inserted into the storage space, the control section may not perform motion control of the second support section.

[0048] As a technical means to solve the above-mentioned technical problems, a massage device according to an embodiment of this application includes a pull-out massage module. The massage device includes: a first support portion forming a receiving space for a second support portion; a second support portion including a massage module configured to provide massage to a user's body, and the second support portion being configured to move relative to the first support portion in a predetermined insertion or pull-out direction; an entry / exit detection portion disposed in at least one of the first support portion and the second support portion; and a control portion using the detection result of the entry / exit detection portion to identify the state information of the second support portion, and controlling the movement of the second support portion or controlling the action of the massage module based on the state information.

[0049] Additionally, the status information may include at least one of the following: an insertion state in which the second support is inserted into the receiving space; a pull-out state in which the second support is pulled out of the receiving space to the outermost side and protrudes outward from the first support; and a movement state in which the second support moves along the insertion or pull-out direction to switch between the insertion state and the pull-out state.

[0050] In addition, when the second support is in the pulled-out state, the control unit can determine that it is in a state capable of driving the massage function of the massage module.

[0051] In addition, a user operation module may be provided in the second support section, and the control unit may control the movement of the second support section based on user input applied to the user operation module.

[0052] In addition, the user operation module can receive user input, which includes a first input for inserting the second support into the receiving space, a second input for pulling the second support out of the receiving space, and a third input for switching the user operation module to a locked state or a locked-out state.

[0053] In addition, when the massage module is in the massage function driving state, the control unit can switch the user operation module to the locked state.

[0054] Additionally, when the user input corresponding to the first input is applied while the massage module is in the massage function driving state, the control unit may not perform motion control of the second support unit based on the user input; or when the user input corresponding to the third input is applied while the massage module is in the massage function driving state, the control unit may not switch the user operation module to the lockout state based on the user input.

[0055] In addition, the massage device may also include an output unit configured to output prompt information. When the user input is applied in the massage module in the massage function driving state, the output unit may output the prompt information to indicate that the second support unit cannot move according to the user input.

[0056] In addition, when the user input corresponding to the first input is applied to the user operation module, the control unit can control the movement of the second support unit based on the detection result of the position information of the massage module.

[0057] In addition, when the detection result of the position information of the massage module corresponds to the interference position where at least a part of the massage module collides with the outer surface of the first support when the second support moves along the insertion or pull-out direction, the control unit can control the massage module to switch the position information to a preset initial position.

[0058] In addition, the control unit can control the moving speed of the second support unit based on the identified status information.

[0059] Additionally, the entry / exit detection unit may include a first support sensor disposed on the first support and a second support sensor disposed on the second support. When the second support moves along the insertion or pull-out direction, the control unit grasps the state information based on the detection result indicating the proximity state between the first support sensor and the second support sensor.

[0060] Furthermore, for the second support portion corresponding to the pulled-out state, when at least one of the states associated with the massage function drive of the massage module and the state of the second support portion meets the preset automatic insertion conditions, the control unit can control the movement of the second support portion, causing the second support portion to switch to the insertion state.

[0061] In addition, the automatic insertion condition may include a condition that the duration of the second support's pulled-out state has elapsed through a preset critical time.

[0062] Additionally, the automatic insertion conditions may include conditions where the massage module corresponds to a state where the massage function is not activated.

[0063] Additionally, a remote control storage module may be provided in the second support section. The remote control storage module has a storage space for inserting a remote control that receives control input related to the massage function drive of the massage module. When the remote control is not inserted into the storage space, the control section may not perform motion control of the second support section.

[0064] The methods described above for solving the problem are merely exemplary and should not be construed as limiting this application. In addition to the exemplary embodiments described above, further embodiments may be included in the accompanying drawings and detailed description of the utility model.

[0065] Utility Model Effect

[0066] According to the means for solving the problem described in this application, a massage device is provided that has a pull-out massage module. When the massage function is not provided, the massage module is inserted into the lower side of a support portion of a bed frame or the like. In order to provide massage to the user, it can be pulled out to the outside of the support portion and used.

[0067] However, the effects that can be obtained from this application are not limited to those described above, and other effects may also exist. Attached Figure Description

[0068] Figure 1 This is a schematic perspective view of a massage device with a pull-out massage module according to an embodiment of this application.

[0069] Figure 2 This is a perspective view schematically showing the inserted state of a massage device having a pull-out massage module according to an embodiment of this application.

[0070] Figure 3 This is a bottom view of an embodiment of the present application corresponding to the inserted state of a massage device having a pull-out massage module.

[0071] Figure 4 This is a bottom view of an embodiment of the present application corresponding to the pulled-out state of a massage device having a pull-out massage module.

[0072] Figure 5A This is a conceptual diagram showing the configuration position of the safety sensor section of a massage device with a pull-out massage module according to an embodiment of this application.

[0073] Figure 5B This is a cross-sectional view showing the structure of the security sensor section according to the first embodiment of this application.

[0074] Figure 5C This is a cross-sectional view showing the structure of the security sensor section according to the second embodiment of this application.

[0075] Figure 6 This is a diagram illustrating the structure and placement of the first safety sensor in a massage device with a pull-out massage module according to an embodiment of this application.

[0076] Figure 7 This is a diagram illustrating the structure and placement of the second safety sensor in a massage device with a pull-out massage module according to an embodiment of this application.

[0077] Figure 8 This is a diagram used to illustrate the user operation module.

[0078] Figure 9 This diagram illustrates the remote control storage module.

[0079] Figure 10 This is a diagram showing the first support sensor in the entry / exit detection section of a massage device having a pull-out massage module according to an embodiment of this application.

[0080] Figure 11 This is a diagram showing the second support sensor in the entry / exit detection section of a massage device having a pull-out massage module according to an embodiment of this application.

[0081] Figure 12 This is a diagram showing the arrangement and shape of the first type of sensor to the third type of sensor of the first support sensor.

[0082] Figure 13A and Figure 13B This is a conceptual diagram used to illustrate the proximity state between the first support sensor and the second support sensor.

[0083] Figure 14 This is a diagram illustrating a massage module according to an embodiment of this application.

[0084] Figure 15 This is a diagram illustrating a plurality of motors arranged in a massage module according to an embodiment of this application.

[0085] Figure 16 This is a diagram illustrating the guide screw and bracket of a massage module according to an embodiment of this application.

[0086] Figure 17A and Figure 17B This is a diagram illustrating the height adjustment method of the first massage section of a massage module according to an embodiment of this application.

[0087] Figure 18 This is a diagram illustrating the connection structure of the main body of a massage module according to an embodiment of this application.

[0088] Figure 19 This is a schematic structural diagram of the control section of a massage device having a pull-out massage module, according to an embodiment of this application.

[0089] Figure 20 This is a flowchart of the automatic insertion process of the second support unit.

[0090] Figure 21 It is a detailed flowchart of the process of controlling the movement of the second support unit by using the detection results of the entry / exit detection unit.

[0091] Figure 22 It is a detailed flowchart of the process of using the detection results of the safety sensor to control the massage function drive of the massage module and the movement of the second support.

[0092] Explanation of reference numerals in the attached figures

[0093] 10: Massage device

[0094] 100: First Support Section

[0095] 102: Foot

[0096] 103: Headboard

[0097] 110: Actuator Module

[0098] 200: Second Support Section

[0099] 210: Massage Module

[0100] 220: User Operation Module

[0101] 230: Remote Control Storage Module

[0102] 20: Remote Control

[0103] 300: Safety Sensors Department

[0104] 310: First Safety Sensor

[0105] 31: Hollow Flexible Tube

[0106] 32: A pair of conductive components

[0107] 320: Second security sensor

[0108] 400: Access Control Department

[0109] 410: Sensor for the first support section

[0110] 411: Type I Sensor

[0111] 412: Type II Sensor

[0112] 413: Type III Sensor

[0113] 420: Second support sensor

[0114] 500: Control Department Detailed Implementation

[0115] The objectives, features, and advantages of this invention described above will become more apparent through the following embodiments in conjunction with the accompanying drawings. The specific structures and functional descriptions below are merely illustrative of embodiments based on the concept of this invention. These embodiments can be implemented in various ways and should not be construed as limited to the embodiments described in this specification or application.

[0116] Based on the embodiments of the present invention, various modifications and methods can be applied, 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 present invention to the specific disclosure method, but should be understood to include all modifications, equivalents, and substitutions contained within the mind and technical scope of the present invention.

[0117] 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 invention, a first constituent element may be named a second constituent element, and similarly, a second constituent element may be named a first constituent element.

[0118] 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 "directly located between," or "adjacent to" and "directly adjacent to," should also be interpreted in the same way.

[0119] The terminology used in this specification is for illustrative purposes only and is not intended to limit the scope of the invention. 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 more than one other feature, number, step, action, constituent element, component, or combination thereof.

[0120] Unless otherwise defined, all terms used herein, including technical and scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art. Terms defined in a common dictionary shall be interpreted as having the meaning consistent with their meaning in the context of the relevant art, and shall not be construed as having an ideal or overly formal meaning unless expressly defined in this specification.

[0121] 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.

[0122] The embodiments of the present invention will now be described in more detail with reference to the accompanying drawings.

[0123] Figure 1 This is a schematic perspective view of a massage device with a pull-out massage module according to an embodiment of this application.

[0124] Reference Figure 1 According to an embodiment of this application, a massage device 10 (hereinafter referred to as "massage device 10") having a pull-out massage module may include a first support portion 100 and a second support portion 200.

[0125] The first support portion 100 can form a space to accommodate the second support portion 200.

[0126] As an example, the first support 100 may include a horizontal frame and a pair of vertical frames respectively connected to both ends of the horizontal frame to form a receiving space. For example, see... Figure 1 As illustrated, the first support 100 may be a bed with an upper surface where a user can lie down, and the second support 200 may be designed to be accommodated in an accommodating space formed on the underside of the first support 100 of the bed.

[0127] The second support portion 200 may include a massage module 210 configured to provide massage to the user's body. Additionally, the second support portion 200 may be configured to move relative to the first support portion 100 in a predetermined insertion or pull-out direction.

[0128] Related to this, Figure 1 The arrow can indicate the insertion or pulling direction as the movement direction of the second support 200.

[0129] Figure 2 This is a perspective view schematically showing the inserted state of a massage device having a pull-out massage module according to an embodiment of this application.

[0130] Simultaneously refer to Figure 1 and Figure 2 The state information of the massage device 10, which indicates the movement state of the second support 200, may include at least one of the following: an insertion state in which the second support 200 is inserted into the receiving space; a pull-out state in which the second support 200 is pulled out of the receiving space to the outermost side and protrudes outward from the first support 100; and a movement state in which the second support 200 moves along the insertion or pull-out direction to switch between the insertion state and the pull-out state.

[0131] Related to this, Figure 1 This shows the extended state of the massage device 10. Figure 2 The insertion state of the massage device 10 is shown.

[0132] For reference, a "movement state" may include: a state in which the second support portion 200, in the insertion state, moves from the receiving space in an outward direction based on the insertion or pull-out direction to switch to a pull-out state for driving the massage function of the massage module 210, etc.; and a state in which the second support portion 200, in the pull-out state, moves toward the receiving space in an inward direction based on the insertion or pull-out direction to switch back to a state for ending the massage function of the massage module 210, etc. Relatedly, in the description of the movement states in the embodiment of this application, the state in which the second support portion 200 moves in an outward direction based on the insertion or pull-out direction is referred to as the "outward movement state," and the state in which the second support portion 200 moves in an inward direction based on the insertion or pull-out direction is referred to as the "inward movement state."

[0133] Additionally, refer to Figure 1 and Figure 2 A user operation module 220 may be provided in the second support section 200. Additionally, refer to... Figure 1 and Figure 2 The user operation module 220 can be configured on the outer surface of the second support 200 so that it is exposed to the outside when the massage device 10 is in the inserted state, so that the user can operate it even when the massage device 10 is in the inserted state.

[0134] In addition, the control unit 500 can control the movement of the second support unit 200 based on user input applied to the user operation module 220.

[0135] For example, when the massage device 10 is in the pulled-out state, if a first input is applied to the user operation module 220 to insert the second support 200 into the receiving space, the control unit 500 can move the second support 200 toward the receiving space in an inward direction based on the insertion or pull-out direction, so that the massage device 10 switches from the moving state (inward moving state) to the inserted state.

[0136] As another example, when the massage device 10 is in the inserted state, if a second input is applied to the user operation module 220 for pulling out the second support 200 from the receiving space, the control unit 500 can move the second support 200 from the receiving space in an outward direction based on the insertion or pull-out direction, so that the massage device 10 switches from the moving state (outward moving state) to the pull-out state.

[0137] Figure 3 This is a bottom view of an embodiment of the present application corresponding to the inserted state of a massage device having a pull-out massage module. Figure 4 This is a bottom view of an embodiment of the present application corresponding to the pulled-out state of a massage device having a pull-out massage module.

[0138] Reference Figure 3 and Figure 4 An actuator module 110 may be provided in the first support portion 100 to provide driving force for the movement of the second support portion 200. Specifically, refer to... Figure 3 and Figure 4 For example, the actuator module 110 may be configured with an actuator 111 and a link member 112. Therefore, the actuator 111 can provide a driving force to move the link member 112 according to the control signal from the control unit 500. For example, when the actuator 111 is controlled to provide a driving force that increases the spacing (separation angle) between a pair of link members 112 configured in an X-shape, the second support 200 can move from the receiving space in an outward direction relative to the insertion or pull-out direction. Conversely, when the actuator 111 is controlled to provide a driving force that decreases the spacing (separation angle) between a pair of link members 112 configured in an X-shape, the second support 200 can move towards the receiving space in an inward direction relative to the insertion or pull-out direction.

[0139] Additionally, refer to Figure 3 and Figure 4 A massage groove 201 may be formed on the upper surface of the second support portion 200, exposing at least a portion of the massage module 210. For example, the second support portion 200 may include an upper surface on which a user can lie down, and the massage groove 201 may be formed to have a length along the height direction of the user lying on the upper surface of the second support portion 200.

[0140] In other words, the massage module 210 is disposed inside the second support portion 200, and at least a portion thereof is exposed to the outside through the massage groove 201 formed on the upper surface. Furthermore, at least a portion of the massage module 210 is exposed to the outside through the massage groove 201, thereby directly or indirectly contacting the user's body to provide a massage.

[0141] Here, "massage module 210 in direct contact with the user's body and providing massage" means that massage is provided while the massage module 210 is in direct contact with the user's body, and the massage device 10 does not include a separate component covering the massage groove 201.

[0142] Furthermore, the massage module 210 indirectly contacting the user's body and providing massage means that the massage device 10 includes a separate component covering the massage groove 201. Specifically, this refers to the case where a separate component covering the massage groove 201 is disposed between the massage module 210 and the user's body. Therefore, the massage module 210 can apply pressure or vibration to the separate component covering the massage groove 201, and this pressure or vibration can be transmitted to the user's body. In this case, the separate component covering the massage groove 201 can be made of cloth, leather, synthetic resin, synthetic leather, etc., but is not limited to these materials.

[0143] Additionally, the massage module 210 can move along the length of the massage groove 201 inside the second support portion 200. For example, the massage module 210 can provide a massage to the user's body while moving along the massage groove 201.

[0144] Therefore, the massage module 210 can provide massage to various parts of the user's body. As an example, the massage module 210 can provide massage to the user's body from the part near the user's neck to the user's waist, but it is not limited to this.

[0145] In addition, regarding the massage modes provided to the user through the massage module 210, the massage module 210 can provide massage by applying acupressure to the user's body or by applying vibration to the user's body.

[0146] For example, the massage module 210 can move while in contact with the user's body and apply acupressure to the user's body to provide acupressure massage.

[0147] As another example, the massage module 210 provides a vibration massage to the user's body by including a vibration motor, which will be described later.

[0148] Alternatively, the massage module 210 can move up and down at a predetermined position to provide tapping massage.

[0149] However, the massage modes provided by the massage module 210 are not limited to the examples described above.

[0150] Additionally, refer to Figure 3 and Figure 4 The second support portion 200 may be provided with a main body portion 202, which is configured with an operation module control unit 520 that operates the actuator module 110 in response to user input applied to the user operation module 220. As an example, the operation module control unit 520 may be mounted on the second support portion 200 in the form of a printed circuit board (PCB), but is not limited thereto. On the other hand, reference will be made later... Figure 19 The specific functions and actions of the user operation module 220 are described in detail.

[0151] The following is for reference Figures 5A to 7 The process by which the safety sensor unit 300 and the control unit 500 control the movement of the second support unit 200 using the detection results of the safety sensor unit 300 will be described in detail.

[0152] Figure 5A This is a conceptual diagram showing the configuration position of the safety sensor section of a massage device with a pull-out massage module according to an embodiment of this application.

[0153] Reference Figure 5A The massage device 10 may include a safety sensor 300 disposed in at least one of the first support portion 100 and the second support portion 200.

[0154] Relatedly, during the relative movement of the second support 200 with respect to the first support 100 in the insertion or pulling direction, the second support 200 may collide with an object or user, or an object or part of the user's body may become stuck in the gap between the first support 100 and the second support 200. Therefore, the massage device 10 disclosed in this application may be provided with a safety sensor 300, which is used to detect and prevent collisions and accidents during the movement (movement) of the second support 200 being pulled out or inserted.

[0155] On the other hand, according to one embodiment of this application, the safety sensor unit 300 can perform sensing when the second support unit 200 is in a movable state, and transmit the sensed detection result to the control unit 500. In other words, according to one embodiment of this application, when the second support unit 200 is in an inserted state or a pulled-out state, the safety sensor unit 300 may not perform sensing, or even if sensing is performed, it may not transmit the sensed detection result to the control unit 500.

[0156] Specifically, the safety sensor unit 300 may include a hollow flexible tube 31 and a pair of conductive members 32. The pair of conductive members 32 are housed inside the hollow flexible tube 31, and generate a signal corresponding to the detection result regarding whether the safety sensor unit 300 is in contact with an external object when the hollow flexible tube 31 is deformed by an external force and becomes energized. Specifically, according to one embodiment of this application, the pair of conductive members 32 are composed of two or more members that are initially spaced apart from each other, and can elastically deform together when the hollow flexible tube 31 is deformed by an external force. The pair of conductive members 32 are relatively close to each other compared to the initial state, thereby energizing each other to generate a signal and transmitting the generated signal to the control unit 500.

[0157] Furthermore, when the external force applied to the safety sensor unit 300 is absent, the pair of conductive members 32 will be separated again to their initial state, so no signal will be generated. When the signal transmission is interrupted, the control unit 500 can detect that the object is moving away from the safety sensor unit 300.

[0158] In addition, the safety sensor unit 300 may be provided with a cable member that connects a pair of conductive members 32 along the length direction, and the safety sensor unit 300 may be provided taking into account the curvature of the surface of the massage device 10 through which the safety sensor unit 300 is provided.

[0159] As an example, the pair of conductive members 32 of the safety sensor unit 300 can be pressure sensors, but are not limited to this. Various measuring units capable of detecting external forces caused by collisions of objects or parts of the user's body can be applied.

[0160] Figure 5B This is a cross-sectional view showing the structure of the security sensor section according to the first embodiment of this application. Figure 5C This is a cross-sectional view showing the structure of the security sensor section according to the second embodiment of this application.

[0161] Specifically, Figure 5B (a) shows the initial state where no external force from an external object is applied to the safety sensor unit 300. Figure 5B (b) shows the state in which an external force from an external object is applied to the safety sensor unit 300, causing the hollow flexible tube 31 to deform and a pair of conductive members 32 to be energized with each other.

[0162] Reference Figure 5B and Figure 5C The safety sensor unit 300 disclosed in this application may include a hollow flexible tube 31 and a pair of conductive members 32. When pressure is applied to one side of the hollow flexible tube 31 in a state where it is spaced apart inside the hollow flexible tube 31, the pair of conductive members 32 elastically deform together and become energized to detect jamming. For example, as Figure 5B As shown, a pair of conductive members 32 have a circular cross-section, or as... Figure 5C As shown, a cross-section with a thin strip structure can be presented, but is not limited to this.

[0163] When an external force from a user's body part, an object, or other external object is applied to the safety sensor unit 300, compared to the state where no external force is applied, a pair of conductive members 32 come closer together and become energized, thereby detecting the applied external force. Using this detection result, the control unit 500 stops the movement of the second support unit 200 or moves the second support unit 200 in the opposite direction to the previous movement direction, thus preventing injury to the user's body and damage to the massage device 10.

[0164] On the other hand, refer to Figure 5B The orientation of the pair of conductive members 32 apart from each other can be set taking into account the direction of the pressure exerted by an external object on the safety sensor unit 300.

[0165] Specifically, when Figure 5B S1 is the attachment surface (adhesive surface) of the hollow flexible tube 31. Figure 5B S2 is the contact surface that comes into contact with an external object so that an external force is applied to it. Figure 5B When C represents the contact portion of the hollow flexible tube 31 caused by external force, the safety sensor unit 300 is designed with a pair of conductive members 32 spaced apart from each other (in the direction of...). Figure 5B The direction from 12 o'clock to 6 o'clock (based on the reference) is the same as the direction of pressure applied to the safety sensor unit 300 by an external object. Therefore, even if the magnitude of the external force (pressure) applied by the external object is small, the energization between the pair of conductive members 32 can be easily achieved, so that the external force applied by the external object can be detected more accurately.

[0166] More specifically, the first safety sensor 310 can be configured such that the direction in which a pair of conductive members 32 are spaced apart from each other is consistent with the insertion or pull-out direction, which is the direction in which the first safety sensor 310, attached to the outer surface of the second support 200, moves together with the second support 200 according to its movement. Therefore, the first safety sensor 310 can more easily detect collisions with external objects when the second support 200 is pulled out.

[0167] In other words, the first safety sensor 310 can be designed such that the direction in which the pair of conductive members 32 are spaced apart from each other is consistent with the direction of pressure applied by an external object that collides (contacts) with the outer surface of the second support 200 moving in the insertion or pull-out direction.

[0168] In contrast, with regard to the second safety sensor 320, the direction in which the pair of conductive members 32 are spaced apart from each other can be configured to face toward the inside of the opening formed on one side of the receiving space. Specifically, the second safety sensor 320 can be configured such that the pair of conductive members 32 are spaced apart from each other in a direction orthogonal to the extending direction of the frame of the first support portion 100 forming the opening.

[0169] More specifically, they are configured separately as described later. Figure 7 The second safety sensors 320a and 320c, shown as a pair of vertical frames, can be configured such that the direction of the conductive members 32 spaced apart from each other is consistent with the length direction of the first support 100, and are disposed in... Figure 7 The second safety sensor 320b of the horizontal frame shown can be configured as a pair of conductive members 32 spaced apart in the vertical direction.

[0170] Furthermore, as described above, since the safety sensor unit 300 is designed to include a hollow flexible tube 31 and a pair of conductive members 32 disposed inside the hollow flexible tube 31, the safety sensor unit 300 can be made into a long, elongated shape like a strip. Therefore, the safety sensor unit 300 can be configured to cover a wider area of ​​the safety sensor detection region used to detect (sensor) external forces applied by an external object. Specifically, the first safety sensor 310 can be attached in an elongated manner along the length direction of the outer surface of the second support 200, and the second safety sensor 320 can be attached in an elongated manner along the inner side of the frame forming the opening on one side of the receiving space.

[0171] For example, such as Figure 5A As indicated by "B", the first safety sensor 310 may have a length corresponding to the entire length of the lower end of the outer surface of the second support portion 200, such as... Figure 5A As shown in “A”, the second safety sensor 320 may have a length corresponding to the entire range of the inner side of the frame forming the opening.

[0172] Figure 6 This is a diagram illustrating the structure and placement of the first safety sensor in a massage device with a pull-out massage module according to an embodiment of this application.

[0173] Reference Figure 6 The safety sensor unit 300 may include a first safety sensor 310 disposed on the outer surface of the second support unit 200. Relatedly, the above-described... Figure 5A The "B" indicates the location of the first safety sensor 310.

[0174] As an example, the first safety sensor 310 can be attached to the outer surface of the second support portion 200 using Velcro. Furthermore, according to one embodiment of this application, considering that a part of the user's body is more likely to collide with the outer surface of the second support portion 200, the first safety sensor 310 can be positioned at the lower end of the outer surface of the second support portion 200. For example, the first safety sensor 310 can be located at the lower end of the outer surface of the second support portion 200 (such as a side cover).

[0175] More specifically, the user's feet, which are in contact with the ground, are relatively prominent in body structure compared to other parts that can be touched within the height range of the second support 200 (e.g., the lower leg). Therefore, considering that the user's feet may collide (contact) with the outer surface of the second support 200 more frequently than with other parts of the user's body, the first safety sensor 310 can be set at the lower end of the outer surface of the second support 200, which makes it easier to detect the location where the user's feet collide (contact) with the outer surface of the second support 200.

[0176] Furthermore, since the first safety sensor 310 is configured at the lower end of the outer surface of the second support 200 as described above, the first safety sensor 310 can be configured at a lower position than the user operation module 220 on the outer surface of the second support 200, thereby reducing the possibility of false detection of external forces due to user operation of the user operation module 220.

[0177] Additionally, refer to Figure 6 An inwardly recessed embedment space 301 is formed on the outer surface of the second support portion 200, and the first safety sensor 310 can be configured to be accommodated in the recessed embedment space 301. Therefore, the first safety sensor 310 is disposed (set, attached) inside the embedment space 301 formed by removing a part of the outer surface (side cover, etc.) of the second support portion 200, such that the first safety sensor 310 is configured to protrude from the outer surface of the second support portion 200, thereby preventing damage to the overall appearance of the massage device 10.

[0178] Figure 7 This is a diagram illustrating the structure and placement of the second safety sensor in a massage device with a pull-out massage module according to an embodiment of this application.

[0179] Reference Figure 7 The safety sensor unit 300 may include a second safety sensor 320, which is disposed in an opening on one side of the receiving space. When the second support 200 moves in an insertion or pull-out direction, at least a portion of the second support 200 passes through the opening on one side of the receiving space. Relatedly, the above-described... Figure 5A The "A" indicates the location of the second safety sensor 320.

[0180] Specifically, refer to Figure 7 The first support 100 may include a horizontal frame and a pair of vertical frames respectively connected to both ends of the horizontal frame to form a receiving space. Additionally, the second safety sensor 320 may be disposed on the inner surfaces of the horizontal frame and the pair of vertical frames forming the opening of the receiving space.

[0181] For example, any one of the pair of vertical frames of the first support portion 100 may be the frame of the foot plate 102 of the first support portion 100 forming a bed shape, and the other of the pair of vertical frames may be the frame of the head plate 103 of the first support portion 100 forming a bed shape. The horizontal frame may be a frame disposed between the foot plate 102 and the head plate 103 and forming an upper surface on which a user can lie down.

[0182] In this regard, Figure 7 The lower left diagram of shows the second safety sensor 320a attached to any one of the pair of vertical frames (for example, the foot plate 102 side of the first support portion 100). Figure 7 The lower right diagram of shows the second safety sensor 320c attached to the other of the pair of vertical frames (for example, the head plate 103 side of the first support portion 100). Figure 7 The middle lower diagram of shows the second safety sensor 320b attached to the horizontal frame. For example, the second safety sensor 320 may be attached in a "匚" shape to surround the opening formed by the pair of vertical frames and the horizontal frame, but is not limited thereto.

[0183] That is, the second safety sensor 320 disclosed in the present application is attached to the lower surface of the first support portion 100 to cover the opening formed by the first support portion 100, so as to be set to easily detect (sense) an external object such as a user's body part or an object stuck in the space between the first support portion 100 and the second support portion 200 when the second support portion 200 is inserted.

[0184] In other words, the first safety sensor 310 of the safety sensor unit 300 provides a function for detecting (sensing) the following dangerous situation: in the outer movement state where the second support portion 200 moves in the outer direction with respect to the insertion or pulling direction to pull out the second support portion 200, the outer surface of the second support portion 200 collides (contacts) with an external object. The second safety sensor 320 of the safety sensor unit 300 provides a function for detecting (sensing) the following dangerous situation: in the inner movement state where the second support portion 200 moves in the inner direction with respect to the insertion or pulling direction to insert the second support portion 200, an external object is stuck in the space between the first support portion 100 and the second support portion 200. The two can be distinguished from each other.

[0185] Figure 8 It is a diagram for explaining the user operation module.

[0186] Refer to Figure 8The user operation module 220 can receive user input, which includes a first input for inserting the second support 200 into the receiving space, a second input for pulling the second support 200 out of the receiving space, and a third input for switching the user operation module 220 to a locked state or a locked-out state.

[0187] Additionally, refer to Figure 8 The user operation module 220 may be equipped with an insert button 221 for receiving a first input, a pull-out button 222 for receiving a second input, and a lock button 223 for receiving a third input. Specifically, after the third input is applied and the user operation module 220 switches to the locked state, even if the first and second inputs are applied, the motion control of the second support 200 based on the user input will not be executed.

[0188] Additionally, refer to Figure 8 The user operation module 220 may be equipped with a display unit 224, which is used to display status information about the movement of the second support 200 along the insertion or pull-out direction, information about the locking status of the user operation module 220, etc. For example, the display unit 224 may be a light source such as a light-emitting diode (LED).

[0189] As one example, the display unit 224 is controlled to light up when the user operation module 220 is in a locked state and to turn off when the user operation module 220 is in a unlocked state, thus providing a function to prompt the user whether the user operation module 220 is operable and whether it needs to be unlocked. As another example, the display unit 224 is controlled to light up when the second support 200 is in a movable state and to turn off when the second support 200 is in a pulled-out or inserted state, thus providing a function to prompt the user about the movement status of the second support 200.

[0190] On the other hand, regarding the operation of the insert button 221, pull-out button 222, and lock button 223, in the case of the insert button 221 and pull-out button 222, when the user performs a brief press of each button, a first input or a second input is applied, thereby applying motion control to switch the second support 200 to the insert state or the pull-out state. Conversely, when the user holds the corresponding button pressed for a preset critical time (e.g., 3 seconds or more), the lock button 223 can be processed to apply a third input.

[0191] On the other hand, according to one embodiment of this application, when the second support 200 is in a moving state (outer moving state or inner moving state), even if the user performs an operation of briefly pressing any one of the insert button 221, pull-out button 222 and locking button 223, a safety function can be provided to stop the movement of the second support 200.

[0192] Furthermore, according to one embodiment of this application, when the massage module 210 is in operation (in a massage function driven state), when a first input is applied to the user operation module 220, considering that at least a part of the massage module 210 may collide with the first support 100 during the process of the second support 200 being inserted into the receiving space while the massage module 210 is in operation, the motion control of the second support 200 based on the first input will not be executed, and a prompt message indicating this situation can be output to the user through the output unit (not shown).

[0193] As an example, the prompts output by the output unit (not shown) may include various contents, such as a voice prompt indicating that the massage module 210 is in the massage function driving state, a voice prompt indicating that the second support unit 200 should be inserted after the massage function driving of the massage module 210 ends due to the collision danger between the massage module 210 and the first support unit 100, and a voice prompt requesting the user to operate the operation module 220 again after the massage function driving of the massage module 210 ends.

[0194] Figure 9 This diagram illustrates the remote control storage module.

[0195] Reference Figure 9 The second support part 200 may be provided with a remote control storage module 230, which has a storage space 231 for inserting a remote control 20 that receives control input related to the massage function drive of the massage module 210.

[0196] Additionally, refer to Figure 9 The remote control storage module 230 may be equipped with a remote control storage identification sensor 232 for detecting the insertion status of the remote control 20 inside the storage space 231.

[0197] Relatedly, when the remote control 20 used to control the massage module 210 is located outside the storage space 231, when the second support 200 moves in the insertion or pull-out direction, the remote control 20 may interfere with the first support 100 and / or the second support 200 (for example, the remote control 20 is located at the opening of the receiving space, and when the second support 200 moves to insert, it may get stuck between the first support 100 and the second support 200, etc.) and cause damage. Therefore, the massage device 10 disclosed in this application provides a dedicated space for accommodating the remote control 20, namely the storage space 231, on the side of the second support 200, and provides a remote control storage identification sensor 232 for detecting the storage state of the remote control 20 relative to the storage space 231, so that the second support 200 can move in the state where the remote control 20 is correctly stored.

[0198] For example, when the remote control 20 is not housed in the storage space 231, the remote control storage recognition sensor 232 is in its initial position. However, when the remote control 20 is housed inside the storage space 231, its storage status can be detected by changing its position to a pressing position through the outer surface of the remote control 20. But it is not limited to this.

[0199] As an example, the remote control storage recognition sensor 232 can be configured at a position corresponding to the upper part (head) of the remote control 20 inserted into the storage space 231, but it is not limited to this. Figure 9 The illustration shows a configuration of one remote control storage identification sensor 232, but according to the implementation example of this application, multiple remote control storage identification sensors 232 can also be configured so that the storage state of the remote control 20 can be strictly detected even when the storage direction of the remote control 20 changes.

[0200] Relatedly, when the remote control 20 is not inserted into the storage space 231, the control unit 500 may not perform motion control of the second support 200. For example, when a first input for inserting the second support 200 into the storage space is applied to the user operation module 220, or when the remote control 20 is not in the inserted storage space 231 state (storage state), the control unit 500 may not perform motion control of the second support 200 to insert it according to the first input. As another example, regarding the automatic insertion condition described later, when the remote control 20 is not in the inserted storage space 231 state (storage state), the control unit 500 may not perform automatic insertion of the second support 200.

[0201] The following is for reference Figures 10 to 13BThe motion state of the second support 200 (state information recognition) is identified by the detection results of the entry / exit detection unit 400 and the control unit 500, and the motion control process of the second support 200 based thereon is described in detail.

[0202] Figure 10 This is a diagram illustrating the first support sensor in the entry / exit detection section of a massage device with a pull-out massage module according to an embodiment of this application. Figure 11 This is a diagram showing the second support sensor in the entry / exit detection section of a massage device having a pull-out massage module according to an embodiment of this application.

[0203] Reference Figure 10 and Figure 11 The massage device 10 may include an entry / exit detection unit 400 disposed in at least one of the first support portion 100 and the second support portion 200. As an example, the entry / exit detection unit 400 may be a magnetic sensor or an optical sensor.

[0204] Specifically, refer to Figure 10 and Figure 11 The entry / exit detection unit 400 may include a first support sensor 410 disposed on the first support portion 100 and a second support sensor 420 disposed on the second support portion 200. According to one embodiment of this application, the first support sensor 410 may be a magnet, and the second support sensor 420 may be a sensor that detects the magnetic force (magnetic field) generated by the magnet. Preferably, the first support sensor 410, including a magnet, is disposed on the first support portion 100, which includes a horizontal frame and a vertical frame, and the second support sensor 420 is disposed on the second support portion 200, which facilitates the placement of a PCB or similar component for driving the massage module 210, using an electrically driven sensor. Furthermore, since the length, shape, etc., of the first support sensor 410 need to be changed in various ways, including a magnet in the first support sensor 410 is more convenient for manufacturing or installation.

[0205] As an example, refer to Figure 10 The first support sensor 410 may be disposed on the inner side of the foot plate 102 of the first support 100 (in other words, the surface facing the receiving space), but is not limited thereto. As another example, according to an implementation example of this application, the first support sensor 410 may also be disposed on the inner side of the head plate 103 of the first support 100.

[0206] Additionally, refer to Figure 10The first support sensor 410 may include: a first type sensor 411 disposed in the first support 100 such that it is opposite to the second support sensor 420 when the second support 200 is in the inserted state; and a second type sensor 412 disposed in the first support 100 such that it is opposite to the second support sensor 420 when the second support 200 is in the pulled-out state.

[0207] Additionally, refer to Figure 10 The first support sensor 410 may include a third type sensor 413, which is positioned between the first type sensor 411 and the second type sensor 412, with the insertion or pull-out direction of the second support 200 as a reference.

[0208] Additionally, refer to Figure 10 The third type sensor 413 can be configured to be closer to the first type sensor 411 than the second type sensor 412.

[0209] Additionally, refer to Figure 11 The second support sensor 420 may have a pair of second support sensors 420 arranged spaced apart in the vertical direction. In other words, the second support sensors 420 may be arranged in a pair that are spaced apart from each other in the vertical direction. As an example, the second support sensor 420 may be arranged on the outer side of the side of the second support 200, and when the second support 200 is in the inserted state, the second support 200 is arranged opposite to the foot plate 102 of the first support 100.

[0210] At this time, the setting height of either of the pair of second support sensors 420 can correspond to the setting height of the first type sensor 411, and the setting height of the other of the pair of second support sensors 420 can correspond to the setting height of the third type sensor 413.

[0211] Additionally, refer to Figure 10 The second type sensor 412 may have a pair of second type sensors 412, which are configured to correspond to the installation height of a pair of second support sensors 420, respectively. In other words, similar to the second support sensors 420, the second type sensors 412 may be configured as a pair that are spaced apart from each other in the vertical direction.

[0212] Figure 12 This is a diagram showing the arrangement and shape of the first type of sensor to the third type of sensor of the first support sensor.

[0213] Reference Figure 12The length of each of the first type of sensor 411 and the second type of sensor 412, based on the insertion or pull-out direction, can be greater than the height based on the vertical direction. Specifically, refer to... Figure 12 The length w1 of the first type sensor 411 can be greater than the height h1 of the first type sensor 411, and the length w2 of the second type sensor 412 can be greater than the height h2 of the second type sensor 412.

[0214] Furthermore, according to one embodiment of this application, the length of the third type sensor 413, based on the insertion or pull-out direction, can be greater than its height, based on the up-down direction. Specifically, see... Figure 12 The length w3 of the third type sensor 413 can be greater than the height h3 of the third type sensor 413.

[0215] By specifying the length and height of the first support sensor 410, alignment errors caused by manufacturing or assembly tolerances of the first support sensor 410 can be prevented (reduced).

[0216] Additionally, refer to Figure 12 The length of the first type sensor 411 or the second type sensor 412, based on the insertion or pull-out direction, can be greater than the length of the third type sensor 413, based on the insertion or pull-out direction. Relatedly, see reference... Figure 12 It can be confirmed that the length w1 of the first type sensor 411 or the length w2 of the second type sensor 412 is greater than the length w3 of the third type sensor 413.

[0217] Furthermore, the control unit 500 can identify the status information of the second support section by using the detection results of the insertion / extraction detection unit 400. Specifically, when the second support section 200 moves in the insertion or withdrawal direction, the control unit 500 can grasp the status information based on the detection results indicating the proximity state between the first support section sensor 410 and the second support section sensor 420.

[0218] In this regard, as detailed above, the status information of the second support 200 can be divided into insertion status, pull-out status, and movement status.

[0219] Figure 13A and Figure 13B This is a conceptual diagram used to illustrate the proximity state between the first support sensor and the second support sensor.

[0220] Reference Figure 13AThe control unit 500 can identify that the second support 200 is in a pulled-out state based on the detection results obtained by a pair of second support sensors 420 and a pair of second type sensors 412 arranged relative to each other at corresponding heights. In other words, when both pairs of second support sensors 420 are in a state opposite to the first support sensor 410, the control unit 500 can identify that the pull-out (protrusion) of the second support 200 has been completed.

[0221] Additionally, refer to Figure 13B The control unit 500 can identify that the second support 200 is in the insertion state based on the detection result obtained by either of the pair of second support sensors 420 (e.g., the second support sensor 420 disposed on the opposite upper side) and the first type sensor 411 facing each other.

[0222] Additionally, although not shown in the figure, the control unit 500 can be based on another of the pair of second support sensors 420 (e.g., in...). Figure 13A and Figure 13B The control unit 500 identifies that the second support 200 is in a moving state by acquiring the detection results obtained when the second support sensor 420 (such as the one configured on the lower side) and the third type sensor 413 are facing each other. In other words, when only one of the pair of second support sensors 420 is facing the first support sensor 410, the control unit 500 can identify that the second support 200 is in a state where insertion (retraction) has been completed or that the second support 200 is in a moving state.

[0223] On the other hand, according to one embodiment of this application, the third type sensor 413 is configured to be relatively closer to the first type sensor 411 than the second type sensor 412. Therefore, the relative state of the third type sensor 413 and the second support sensor 420 can indicate that the second support 200 is in a moving state, close to the insertion state rather than the pull-out state.

[0224] Relatedly, the control unit 500 can control the moving speed of the second support portion 200 based on the detection results of the relative state of the second support portion sensor 420 and the third type sensor 413. More specifically, when the relative state of the second support portion sensor 420 and the third type sensor 413 is detected, the control unit 500 determines that the second support portion 200 corresponding to the inward movement state has reached a near insertion state (in other words, the second support portion 200 is almost completely housed inside the receiving space), and therefore can control the downward moving speed of the second support portion 200.

[0225] In addition, according to one embodiment of this application, when the second support sensor 420 is detected to be in a state opposite to the first type sensor 411 or the second type sensor 412, the control unit 500 determines that the second support 200 has reached the insertion state or the pull-out state, and thus can control the movement of the second support 200 to stop the second support 200.

[0226] In other words, the control unit 500 can control the movement of the second support unit 200 based on the identified state information of the second support unit 200.

[0227] In addition, according to one embodiment of this application, the control unit 500 can control the operation of the massage module 210 based on the identified state information of the second support unit 200.

[0228] Specifically, when the second support portion 200 is in the extended state, the control unit 500 can determine that the massage module 210 is in a state where the massage function can be driven. Therefore, the massage module 210 can provide the massage function only when the second support portion 200 is extended as far as possible outward from the receiving space relative to the first support portion 100.

[0229] In addition, when the massage module 210 is in the massage function driving state, the control unit 500 can switch the user operation module 220 to the locked state.

[0230] Additionally, when a user input corresponding to the first input is applied while the massage module 210 is in the massage function driving state, the control unit 500 may not perform motion control of the second support unit 200 based on the user input. Or, when a user input corresponding to the third input is applied while the massage module 210 is in the massage function driving state, the control unit 500 may not perform the action of switching to the lock release state of the user operation module 220 based on the user input.

[0231] Additionally, according to one embodiment of this application, the massage device 10 may include an output unit (not shown) configured to output prompt information. As an example, when user input is applied to the user operation module 220 while the massage module 210 is in the massage function driven state, the output unit (not shown) may output prompt information indicating that the second support unit 200 cannot be moved according to the user input.

[0232] As an example, the output unit (not shown) can output prompt information visually through the display module (not shown) provided in the remote controller 20, or it can output prompt information audibly through the speaker module (not shown) provided in the first support unit 100 and / or the second support unit 200, but it is not limited to these.

[0233] In addition, when a user input corresponding to the first input is applied to the user operation module 220, the control unit 500 can control the movement of the second support unit 200 based on the detection result of the position information of the massage module 210.

[0234] Specifically, if the detection result of the position information of the massage module 210 corresponds to an interference position where at least a portion of the massage module 210 may collide with the outer surface of the first support 100 when the second support 200 moves in the insertion or pull-out direction, the control unit 500 can control the massage module 210 to switch its position information to a preset initial position. Furthermore, after applying control to adjust the position of the massage module 210, if it is determined that the re-detected position information of the massage module 210 corresponds to the initial position, the control unit 500 can control the movement of the second support 200 to switch the second support 200 to an insertion state.

[0235] Furthermore, the control unit 500 can control the movement of the second support 200 using the load measurement results of the actuator module 110. Relatedly, in the event of an accident, such as when a user or object is positioned above the second support 200 or an object is stuck in a position that cannot be detected by the safety sensor unit 300, the actuator module 110, which is provided in the first support 100 to provide driving force for the movement of the second support 200, may generate a load exceeding a preset error range. Therefore, the control unit 500 can monitor this load applied to the actuator module 110 to prevent danger by either not performing movement control of the second support 200 based on the user input corresponding to the first input, or by immediately stopping the movement of the second support 200 in a moving state.

[0236] The automatic insertion process of the second support 200 will be described below.

[0237] According to one embodiment of this application, for the second support portion 200 corresponding to the pulled-out state, if at least one of the states associated with the massage function drive of the massage module 210 and the state of the second support portion 200 meets a preset automatic insertion condition, the movement of the second support portion 200 can be controlled to switch the second support portion 200 to the insertion state. Specifically, automatic insertion of the second support portion 200 can mean that even without the user applying the first input through the user operation module 220, as long as the preset conditions are met, the movement is controlled by the control unit 500 to move the second support portion 200 from the pulled-out state into the receiving space and switch to the insertion state.

[0238] Specifically, the automatic insertion condition may include the condition that the duration of the second support 200 in the pulled-out state has exceeded a preset critical time (e.g., 30 minutes).

[0239] As another example, the automatic insertion condition may include a condition where the massage module 210 corresponds to a state where the massage function is not activated. In other words, the automatic insertion of the second support 200 may not be performed while the massage module 210 is performing actions to provide the massage function.

[0240] As another example, the automatic insertion conditions may include conditions related to the insertion state of the remote control 20 in the storage space 231 of the remote control storage module 230. For example, when the remote control 20 is not inserted into the storage space 231, the automatic insertion of the second support 200 may not be performed.

[0241] Furthermore, according to one embodiment of this application, the automatic insertion condition may include a condition where the detection result of the safety sensor unit 300 indicates that no external force is applied to the safety sensor unit 300. On the other hand, see later... Figure 20 This section provides a detailed explanation of the automatic insertion process.

[0242] The following is for reference Figures 14 to 18 The specific structure and function of the massage module 210 are described in detail.

[0243] Figure 14 This is a diagram illustrating a massage module according to an embodiment of this application.

[0244] Reference Figure 14 The massage module 210 may include: a main body 211; a rotating part 212, one end of which is hinged to the main body 211; and a first massage part 213, disposed on the upper part of the rotating part 212 and providing massage to the user's body parts, and adjusting its height according to the rotation of the rotating part 212. Additionally, refer to... Figure 14 The massage module 210 may include a second massage unit 214 for applying pressure to the user's body. As an example, the second massage unit 214 may be in the form of a pressure ball.

[0245] On the other hand, when the massage module 210 does not provide a massage function, the first massage part 213 can be positioned lower than the upper surface of the second support part 200, so that the user will not feel uncomfortable.

[0246] Figure 15 This is a diagram illustrating a plurality of motors arranged in a massage module according to an embodiment of this application.

[0247] Reference Figure 15The massage module 210 may be equipped with multiple motors, including a first massage part up-and-down moving motor 2101, a tapping motor 2102, an XD motor 2103, and a kneading motor 2104.

[0248] As an example, the first massage unit 213 of the massage module 210 can provide modes such as acupressure, kneading, tapping, XD, and heating using multiple motors, and the second massage unit 214 can provide modes such as acupressure, kneading, tapping, and heating using multiple motors, but is not limited to these. In other words, the type of massage provided to the user's body parts by each of the first massage unit 213 and the second massage unit 214 can be determined differently.

[0249] Figure 16 This is a diagram illustrating the guide screw and bracket of a massage module according to an embodiment of this application.

[0250] Reference Figure 16 The massage module 210 can be activated so that the guide screw 2111 moves according to the rotation of the XD motor 2103, thereby moving the bracket 2112 that is coupled to the first massage unit 213, thereby adjusting the massage intensity (XD mode) provided by the first massage unit 213.

[0251] Figure 17A and Figure 17B This is a diagram illustrating the height adjustment method of the first massage section of a massage module according to an embodiment of this application. Figure 18 This is a diagram illustrating the connection structure of the main body of a massage module according to an embodiment of this application.

[0252] Reference Figure 17A and Figure 17B The height range of the first massage unit 213 can be set such that the maximum height of the first massage unit 213 is as high as possible based on the height of the main body 211 according to the rotation of the rotating unit 212, and the minimum height is as low as possible based on the height of the main body 211 according to the rotation of the rotating unit 212.

[0253] Related to this, such as Figure 17B As shown, the initial position associated with the position information of the massage module 210, used to determine whether the second support 200 in the pulled-out state has switched to the inserted state, can correspond to the state where the height of the first massage unit 213 is adjusted to its minimum height. For example, as... Figure 17AAs shown, when the height of the first massage unit 213 is adjusted to the maximum height, even if the first input to switch the second support unit 200 to the insertion state is applied when the massage function of the massage module 210 ends, it is determined that the position information of the massage module 210 corresponds to the interference position, so the motion control of the second support unit 200 based on the first input can be omitted.

[0254] Additionally, refer to Figure 17A , Figure 17B and Figure 18 The first shaft 2116 of the main body 211 is fixed in position, and the second shaft 2117 is fixed to the bracket 2112, and its position can be changed according to the position of the bracket 2112. In addition, when the bracket 2112 moves, the position of the second shaft 2117 changes, thereby causing the connecting member 2115 connected to the second shaft 2117 to move the shaft member 2114 in the left and right direction, and the massage frame 2113 rotates about the first shaft 2116 based on the left and right movement of the shaft member 2114. The rotating part 212 is tilted, so massage can be provided to the user's body parts through the first massage part 213 located at the upper end of the rotating part 212.

[0255] Figure 19 This is a schematic structural diagram of the control section of a massage device having a pull-out massage module, according to an embodiment of this application.

[0256] Reference Figure 19 The control unit 500 may include a main control unit 510 and an operation module control unit 520. As an example, the main control unit 510 may include the main board of the massage device 10, and the operation module control unit 520 may include a switch board mounted on the second support unit 200.

[0257] The main control unit 510 can acquire user input applied to the user operation module 220 from the operation module control unit 520 or the user operation module 220. Additionally, the main control unit 510 can acquire (receive) detection results from the safety sensor unit 300. Furthermore, the main control unit 510 can control the actuator module 110 of the first support unit 100 based on the detection results of the access detection unit 400, the user input applied to the user operation module 220, etc.

[0258] In addition, the operation module control unit 520 can receive user input applied to the user operation module 220 and control the insert button 221, pull-out button 222, lock button 223, display unit 224, etc. set in the user operation module 220.

[0259] Based on the detailed description above, the following is a brief overview of the operational process of this application.

[0260] Figure 20 This is a flowchart of the automatic insertion process of the second support unit.

[0261] Figure 20 The automatic insertion process of the second support shown can be executed by the control unit 500 described above. Therefore, even with the following omitted content, the description of the massage device 10 can be applied in the same way to the... Figure 20 Explanation.

[0262] Reference Figure 20 The control unit 500 can execute an automatic insertion process that automatically switches the second support 200 to the insertion state based on the duration of the second support 200 being pulled out or the elapsed time from the time when the user input is applied to the user operation module 220, the condition C2 for the massage function of the massage module 210 to be driven, the condition C3 for the remote control 20 being stored in the remote control storage module 230, and the condition C4 for the detection result of the safety sensor unit 300.

[0263] Specifically, refer to Figure 20 In the A (timer-related process), when it is determined that the duration of the second support 200 being pulled out or the elapsed time since the user input was applied to the user operation module 220 is a critical time or more (C1 "Yes"), and it is determined that the massage module 210 is in a massage function not driven state (C2 "Yes"), the control unit 500 can confirm whether the storage state of the remote control 20 meets the automatic insertion condition C3.

[0264] Next, when it is determined that the remote control 20 is normally stored in the remote control storage module 230 (C3 "detected"), the control unit 500 can control the movement of the second support unit 200, so that the second support unit 200 switches to the insertion state (starts automatic insertion).

[0265] Next, when the second support 200 is in a moving state that is moving to switch to the insertion state, if the detection result of the safety sensor 300 is used to determine that jamming or collision has been detected ("jamming detected" in C4), the control unit 500 can stop the movement of the second support 200.

[0266] In contrast, when the second support 200 is in a moving state that is moving to switch to the insertion state, if the detection result of the safety sensor 300 is used to determine that no jamming or collision has occurred (C4 "not detected"), the control unit 500 uses the detection result of the entry / exit detection unit 400 to control the moving speed of the second support 200, confirm that the second support 200 has switched to the insertion state, and complete the automatic insertion process.

[0267] Figure 21 It is a detailed flowchart of the process of controlling the movement of the second support unit by using the detection results of the entry / exit detection unit.

[0268] Figure 21 The process of controlling the movement of the second support unit by applying the detection results of the entry / exit detection unit, as shown, can be executed by the control unit 500 described above. Therefore, even with the omissions below, the description of the massage device 10 can be applied in the same way to the massage device 10. Figure 21 Explanation.

[0269] Reference Figure 21 The control unit 500 can control the movement of the second support unit 200 by using the load detection result C1 of the actuator module 110, the detection result C2 of the safety sensor unit 300, and the detection result C3 of the entry / exit detection unit 400.

[0270] Specifically, refer to Figure 21 When the load measurement result of the actuator module 110 is determined to be outside the allowable range (C1 "overload detected"), the control unit 500 can stop the movement of the second support unit 200 and output relevant prompt information through the output unit (not shown).

[0271] Next, when the load measurement result of the actuator module 110 is normal, the control unit 500 controls the movement of the second support unit 200 according to the user input applied to the user operation module 220. When the detection result of the safety sensor unit 300 obtained when the second support unit 200 is in the moving state is used to determine whether a jam or collision is detected (C2 "jamming detected"), the control unit 500 can stop the movement of the second support unit 200 and output relevant prompt information through the output unit (not shown).

[0272] Next, the control unit 500 can use the detection result C3 of the entry / exit detection unit 400 to control the movement C3 of the second support unit 200.

[0273] Specifically, refer to Figure 21 According to the upper flowchart, when the insertion confirmation process of the second support 200 begins and the third type sensor 413 is detected to be opposite the second support sensor 420, the control unit 500 can reduce the moving speed of the second support 200.

[0274] Next, when the first type sensor 411 is detected to be opposite the second support sensor 420, the control unit 500 can determine that the second support 200 has reached the insertion state, and therefore stops the movement of the second support 200 and completes the insertion confirmation process.

[0275] Figure 22It is a detailed flowchart of the process of using the detection results of the safety sensor to control the massage function drive of the massage module and the movement of the second support.

[0276] Figure 22 The process of controlling the massage function drive of the massage module and the movement of the second support by applying the detection results of the safety sensor unit, as shown, can be executed by the control unit 500 described above. Therefore, even if the following content is omitted, the description of the massage device 10 can be applied in the same way to the description of the massage device 10. Figure 22 Explanation.

[0277] Reference Figure 22 The control unit 500 can determine whether the second support unit 200 is in the pulled-out state C1.

[0278] If the judgment result of step C1 is that a pair of second type sensors 412 and a pair of second support sensors 420 are detected to be opposite each other (the "two" in C1), the control unit 500 can determine that the massage module 210 is in a state where the massage function can be driven.

[0279] In contrast, if the judgment result of step C1 is that no pair of second type sensors 412 and a pair of second support sensors 420 are detected to be opposite each other (other than "other than" in C1), the control unit 500 can determine that the massage module 210 of the second support 200 is in a state where the massage function cannot be driven.

[0280] Next, the control unit 500 can determine whether the massage module 210 is in the massage function drive state C2.

[0281] If the judgment result of step C2 is that the massage module 210 is in the massage function driving state ("in action" in C2), then the control unit 500 can switch the user operation module 220 to the locked state and execute the subsequent step C3.

[0282] In step C3, when a third input is received to switch the user operation module 220 to the unlocked state, considering that the massage module 210 is in the driving state, the control unit 500 can output a prompt message indicating that the second support unit 200 cannot be inserted through the output unit (not shown).

[0283] In contrast, if the judgment result of step C2 is that the massage module 210 is in a state where the massage function is not driven ("standby" in C2), then the control unit 500 can control the driving of the massage module 210 and the movement of the second support unit 200 through step C4, so that the second support unit 200 switches to the insertion state after the massage ends.

[0284] Specifically, in step C4, the control unit 500 can respond to the first input applied to the user operation module 220 to confirm the position of the massage module 210, and control the massage module 210 so that the position of the massage module 210 is adjusted to a preset initial position, and then control the movement of the second support 200 so that the second support 200 moves toward the receiving space to switch to the insertion state.

[0285] In the above description, each step, such as the automatic insertion process of the second support, the process of controlling the massage function of the massage module, and the process of controlling the movement of the second support, can be further divided into additional steps or combined into fewer steps according to the implementation examples of this application. In addition, some steps can be omitted as needed, and the order of the steps can also be changed.

[0286] The automatic insertion process of the second support part, the process of controlling the massage function drive of the massage module, and the process of controlling the movement of the second support part, according to an embodiment of this application, can be implemented in the form of program instructions executable by various computer units and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., individually or in combination. The program instructions recorded on the medium may be specifically designed and configured for this utility model, or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical media such as CD-ROMs and DVDs; magneto-optical media such as floppy disks; and hardware devices specifically configured to store and execute program instructions, such as read-only memory (ROM), random access memory (RAM), and flash memory. Examples of program instructions include not only machine language code generated by a compiler but also high-level language code executable by a computer using an interpreter. The aforementioned hardware devices can be configured as one or more software modules to perform the actions of this utility model, and vice versa.

[0287] In addition, the above-mentioned automatic insertion process of the second support, the process of controlling the massage function of the massage module, and the process of controlling the movement of the second support can also be implemented in the form of a computer program or application program stored on a recording medium and executed by a computer.

[0288] Although embodiments of the present invention have been described in more detail above with reference to the accompanying drawings, the present invention is not limited to these embodiments, and various modifications can be made without departing from the technical spirit of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but are used to define the scope, and the scope of the technical spirit of the present invention is not limited by the embodiments. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. The scope of protection of the present invention should be interpreted by the claims, and should be interpreted as including all technical features within the equivalent scope within the scope of the claims.

Claims

1. A massage device, which is an insertable and pull-out massage device providing safety functions, characterized in that, include: The first support section forms the space to accommodate the second support section; The second support includes a massage module configured to provide massage to the user's body, and the second support is configured to move relative to the first support in a preset insertion or pull-out direction. An actuator module is disposed on the first support and provides a driving force for the movement of the second support; as well as The control unit uses the load measurement results of the actuator module to control the movement of the second support unit.

2. The massage device according to claim 1, characterized in that, It also includes a safety sensor unit disposed in at least one of the first support portion and the second support portion; The safety sensor section includes a first safety sensor disposed on the outer surface of the second support section.

3. The massage device according to claim 2, characterized in that, An inwardly recessed embedment space is formed on the outer surface of the second support portion. The first safety sensor is configured to be housed in the buried space.

4. The massage device according to claim 2, characterized in that, The safety sensor unit further includes a second safety sensor, which is disposed in an opening on one side of the receiving space. When the second support unit moves in the insertion or pull-out direction, at least a portion of the second support unit passes through the opening on one side of the receiving space.

5. The massage device according to claim 4, characterized in that, The first support includes a horizontal frame and a pair of vertical frames, the pair of vertical frames being respectively connected to both ends of the horizontal frame to form the receiving space. The second safety sensor is disposed on the inner side of the horizontal frame and the pair of vertical frames forming the opening.

6. The massage device according to claim 2, characterized in that, The safety sensor unit includes: Hollow flexible tube; and A pair of conductive members are housed inside the hollow flexible tube, and when the hollow flexible tube deforms due to external force, the pair of conductive members generate a signal corresponding to the detection result regarding whether the safety sensor unit is in contact with an external object.

7. The massage device according to claim 2, characterized in that, The safety sensor unit includes: A first safety sensor detects contact between an external object and the outer surface of the second support portion, which moves in an outward direction based on the insertion or pull-out direction; and The second safety sensor detects an external object stuck in the space between the second support and the first support as the object moves in an inward direction relative to the insertion or pull-out direction.

8. The massage device according to claim 1, characterized in that, It also includes an entry / exit detection unit, which is disposed in at least one of the first support and the second support, and the entry / exit detection unit is configured to detect state information related to the movement of the second support along the insertion or pull-out direction.

9. The massage device according to claim 8, characterized in that, The entry / exit detection unit includes a first support sensor disposed on the first support and a second support sensor disposed on the second support. When the second support moves along the insertion or pull-out direction, the control unit grasps the state information based on the detection results indicating the proximity state between the first support sensor and the second support sensor.

10. The massage device according to claim 9, characterized in that, The first support sensor includes: A first type of sensor is disposed on the first support portion such that it is opposite to the sensor on the second support portion when the second support portion is in the inserted state; and A second type of sensor is disposed on the first support portion such that it is opposite to the sensor on the second support portion when the second support portion is in the extended state.

11. The massage device according to claim 10, characterized in that, The first support sensor also includes a third type of sensor, which is positioned between the first type of sensor and the second type of sensor, with the insertion or pull-out direction as a reference. The control unit controls the moving speed of the second support based on the detection results of the relative states of the second support sensor and the third type of sensor.

12. The massage device according to claim 11, characterized in that, The third type of sensor is configured to be closer to the first type of sensor than the second type of sensor.

13. The massage device according to claim 11, characterized in that, The second support sensor has a pair of second support sensors arranged spaced apart in the vertical direction. The installation height of either of the pair of second support sensors corresponds to the installation height of the first type of sensor. The height of the other of the pair of second support sensors corresponds to the height of the third type of sensor.

14. The massage device according to claim 13, characterized in that, The second type of sensor has a pair of second type sensors configured to correspond to the setting height of the pair of second support sensors, respectively.

15. The massage device according to claim 10, characterized in that, The length of each of the first type of sensor and the second type of sensor, based on the insertion or pull-out direction, is greater than the height based on the up-down direction.

16. The massage device according to claim 11, characterized in that, The length of the first type of sensor or the second type of sensor, based on the insertion or pull-out direction, is greater than the length of the third type of sensor, based on the insertion or pull-out direction.

17. A massage device, which is an insertable and pull-out massage device providing a safety function, characterized in that, include: The first support section forms the space to accommodate the second support section; The second support includes a massage module configured to provide massage to the user's body, and the second support is configured to move relative to the first support in a preset insertion or pull-out direction. A safety sensor unit is disposed in at least one of the first support unit and the second support unit; as well as The control unit uses the detection results from the safety sensor unit to control the movement of the second support unit; The safety sensor section includes a first safety sensor disposed at the lower end of the outer surface of the second support section.

18. The massage device according to claim 17, characterized in that, An inwardly recessed embedment space is formed on the outer surface of the second support portion. The first safety sensor is configured to be housed in the buried space.

19. The massage device according to claim 17, characterized in that, The safety sensor unit further includes a second safety sensor, which is disposed in an opening on one side of the receiving space. When the second support unit moves in the insertion or pull-out direction, at least a portion of the second support unit passes through the opening on one side of the receiving space.

20. The massage device according to claim 19, characterized in that, The first support includes a horizontal frame and a pair of vertical frames, the pair of vertical frames being respectively connected to both ends of the horizontal frame to form the receiving space. The second safety sensor is disposed on the inner side of the horizontal frame and the pair of vertical frames forming the opening.

21. The massage device according to claim 17, characterized in that, The safety sensor unit includes: Hollow flexible tube; and A pair of conductive members are housed inside the hollow flexible tube, and when the hollow flexible tube deforms due to external force, the pair of conductive members generate a signal corresponding to the detection result regarding whether the safety sensor unit is in contact with an external object.

22. The massage device according to claim 17, characterized in that, The safety sensor unit includes: A first safety sensor detects contact between an external object and the outer surface of the second support portion, which moves in an outward direction based on the insertion or pull-out direction; and The second safety sensor detects an external object stuck in the space between the second support and the first support as the object moves in an inward direction relative to the insertion or pull-out direction.

23. The massage device according to claim 17, characterized in that, It also includes an entry / exit detection unit, which is disposed in at least one of the first support and the second support, and the entry / exit detection unit is configured to detect state information related to the movement of the second support along the insertion or pull-out direction.

24. The massage device according to claim 23, characterized in that, The entry / exit detection unit includes a first support sensor disposed on the first support and a second support sensor disposed on the second support. When the second support moves along the insertion or pull-out direction, the control unit grasps the state information based on the detection results indicating the proximity state between the first support sensor and the second support sensor.

25. The massage device according to claim 17, characterized in that, The first support has an actuator module that provides a driving force for the movement of the second support.

26. The massage device according to claim 25, characterized in that, The control unit uses the load measurement results of the actuator module to control the movement of the second support unit.

27. A massage device, which is an insertable and retractable massage device, characterized in that, include: The first support section forms the space to accommodate the second support section; The second support includes a massage module configured to provide massage to the user's body, and the second support is configured to move relative to the first support in a preset insertion or pull-out direction. as well as The control unit identifies the status information of the second support unit and controls the movement of the second support unit or the operation of the massage module based on the status information. The status information includes the insertion state of the second support portion into the receiving space and the pull-out state of the second support portion being pulled out of the receiving space to the outermost side and protruding outward from the first support portion. For the second support portion corresponding to the pulled-out state, when at least one of the states associated with the massage function drive of the massage module and the state of the second support portion meets the preset automatic insertion conditions, the control unit controls the movement of the second support portion, causing the second support portion to switch to the insertion state.

28. The massage device according to claim 27, characterized in that, The status information also includes the movement state of the second support portion moving along the insertion or pull-out direction to switch between the insertion state and the pull-out state.

29. The massage device according to claim 28, characterized in that, When the second support is in the pulled-out state, the control unit determines that it is in a state capable of driving the massage function of the massage module.

30. The massage device according to claim 27, characterized in that, A user operation module is provided in the second support section. The control unit controls the movement of the second support unit based on user input applied to the user operation module.

31. The massage device according to claim 30, characterized in that, The user operation module receives user input, which includes a first input for inserting the second support into the receiving space, a second input for pulling the second support out of the receiving space, and a third input for switching the user operation module to a locked state or a locked-out state.

32. The massage device according to claim 31, characterized in that, It also includes an output section configured to display prompt information. When the user input is applied in the massage module's massage function driving state, the output unit outputs the prompt information to indicate that the second support unit cannot move according to the user input.

33. The massage device according to claim 27, characterized in that, The control unit controls the moving speed of the second support unit based on the identified status information.

34. The massage device according to claim 27, characterized in that, The automatic insertion condition includes the condition that the duration of the second support's pulled-out state exceeds a preset critical time.

35. The massage device according to claim 27, characterized in that, The automatic insertion conditions include the conditions under which the massage module corresponds to the state where the massage function is not activated.

36. The massage device according to claim 27, characterized in that, A remote control storage module is provided in the second support part. The remote control storage module has a storage space for inserting a remote control that receives control input related to driving the massage function of the massage module. When the remote control is not inserted into the storage space, the control unit does not perform motion control of the second support unit.

37. A massage device comprising a pull-out massage module, characterized in that, The massage device includes: The first support section forms the space to accommodate the second support section; The second support includes a massage module configured to provide massage to the user's body, and the second support is configured to move relative to the first support in a preset insertion or pull-out direction. An access detection unit is disposed in at least one of the first support portion and the second support portion; and The control unit uses the detection results of the entry / exit detection unit to identify the status information of the second support unit, and controls the movement of the second support unit or the action of the massage module based on the status information.

38. The massage device according to claim 37, characterized in that, The status information includes at least one of the following: an insertion state in which the second support is inserted into the receiving space; a pull-out state in which the second support is pulled out of the receiving space to the outermost side and protrudes outward from the first support; and a movement state in which the second support moves along the insertion or pull-out direction to switch between the insertion state and the pull-out state.

39. The massage device according to claim 38, characterized in that, When the second support is in the pulled-out state, the control unit determines that it is in a state capable of driving the massage function of the massage module.

40. The massage device according to claim 37, characterized in that, A user operation module is provided in the second support section. The control unit controls the movement of the second support unit based on user input applied to the user operation module.

41. The massage device according to claim 40, characterized in that, The user operation module receives user input, which includes a first input for inserting the second support into the receiving space, a second input for pulling the second support out of the receiving space, and a third input for switching the user operation module to a locked state or a locked-out state.

42. The massage device according to claim 41, characterized in that, When the massage module is in the massage function driving state, the control unit switches the user operation module to the locked state.

43. The massage device according to claim 41, characterized in that, When the user input corresponding to the first input is applied in the massage module's massage function driven state, the control unit does not execute the motion control of the second support unit based on the user input, or When the user input corresponding to the third input is applied to the massage module in the massage function driven state, the control unit does not switch the user operation module to the lockout state according to the user input.

44. The massage device according to claim 41, characterized in that, It also includes an output section configured to display prompt information. When the user input is applied in the massage module's massage function driving state, the output unit outputs the prompt information to indicate that the second support unit cannot move according to the user input.

45. The massage device according to claim 41, characterized in that, When the user input corresponding to the first input is applied to the user operation module, the control unit controls the movement of the second support unit based on the detection result of the position information of the massage module.

46. ​​The massage device according to claim 45, characterized in that, When the detection result of the position information of the massage module corresponds to the interference position where at least a part of the massage module collides with the outer surface of the first support when the second support moves along the insertion or pull-out direction, the control unit controls the massage module to switch the position information to a preset initial position.

47. The massage device according to claim 37, characterized in that, The control unit controls the moving speed of the second support unit based on the identified status information.

48. The massage device according to claim 37, characterized in that, The entry / exit detection unit includes a first support sensor disposed on the first support and a second support sensor disposed on the second support. When the second support moves along the insertion or pull-out direction, the control unit grasps the state information based on the detection result indicating the proximity state between the first support sensor and the second support sensor.

49. The massage device according to claim 38, characterized in that, For the second support portion corresponding to the pulled-out state, when at least one of the states associated with the massage function drive of the massage module and the state of the second support portion meets the preset automatic insertion conditions, the control unit controls the movement of the second support portion, causing the second support portion to switch to the insertion state.

50. The massage device according to claim 49, characterized in that, The automatic insertion condition includes the condition that the duration of the second support's pulled-out state exceeds a preset critical time.

51. The massage device according to claim 49, characterized in that, The automatic insertion conditions include the conditions under which the massage module corresponds to the state where the massage function is not activated.

52. The massage device according to claim 37, characterized in that, A remote control storage module is provided in the second support part. The remote control storage module has a storage space for inserting a remote control that receives control input related to driving the massage function of the massage module. When the remote control is not inserted into the storage space, the control unit does not perform motion control of the second support unit.

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