Massage device providing standing movements

Abstract

The utility model provides a massage device of providing standing action, according to the massage device of one embodiment of the utility model includes: base frame can contact with ground, tilt frame, with the main body frame of can support a part of user's body is combined with, and can relative rotation relative to base frame, and tilt drive part, connects base frame with tilt frame, and the power is passed to tilt frame to make tilt frame relative rotation relative to base frame.

Description

Technical Field

[0001] This utility model relates to massage devices including leg massage sections, and more specifically, to a massage device that provides standing massage for more effective convenience and safety. Background Technology

[0002] Massage is a medical adjunctive therapy that uses various forms of mechanical stimulation, such as kneading, pressing, stretching, tapping, or guided movement, to apply or induce these stimuli to the user's body, thereby regulating the user's biorhythms, improving blood circulation, and relieving fatigue.

[0003] With changes in dietary habits, lifestyles, activity areas, and lifestyles, as well as increased attention to health and work-life balance, the demand for massage devices or equipment (hereinafter referred to as "massage devices") that provide muscle relaxation, tension relief, fatigue recovery, and stress reduction is increasing.

[0004] In recent years, massage devices have gone beyond simply providing massage to the user's body; they have also taken on the characteristics of electronic devices, offering a variety of additional functions, convenience features, and medical assistance functions.

[0005] With the application of multiple functions and modules, recent massage devices have depth and size sufficient to accommodate part or the entire body of a user, which may be quite inconvenient when getting up (leaving the massage device) after the massage, rest, etc.

[0006] Especially for elderly people or users with physical disabilities, leaving the massage device may not be easy, and safety accidents such as injuries may occur during this process.

[0007] While some massage devices include angle adjustment functions, these functions are mainly reclining functions that allow the user to receive a massage in a comfortable posture, but they do not provide convenience for the user when leaving the massage device. Utility Model Content

[0008] Problems to be solved by utility models

[0009] This invention is proposed in the context described above. Its purpose is to further improve the convenience for users when leaving their seats and effectively prevent safety accidents that may occur during the process of leaving their seats by utilizing the organic movement relationship of multiple massage parts constituting the massage device.

[0010] Other objects and advantages of this invention may be understood through the following description and will become clearer through embodiments of this invention. Furthermore, the objects and advantages of this invention may be realized through the configurations and combinations thereof described in the appended claims.

[0011] The technical problem to be solved by this utility model is not limited to the above-mentioned problems. Other problems not mentioned can be clearly understood by those skilled in the art from the following description of the utility model.

[0012] means for solving problems

[0013] To achieve the above objectives, a massage device according to one embodiment of the present invention may include: a body massage unit for massaging at least a part of the user's body; a leg massage unit disposed below the body massage unit; a body drive unit for changing the position or posture of the body massage unit; a leg drive unit for adjusting the position of the leg massage unit; and a control unit for controlling the body drive unit and the leg drive unit so that the forward upright standing motion of the body massage unit is linked to the position adjustment of the leg massage unit.

[0014] The body massage unit of this invention may include a seat and a backrest. In this case, when the standing action occurs, the control unit controls the body drive unit to tilt the seat in a downward tilting position toward the ground.

[0015] Specifically, the leg drive unit of this invention may include a length adjustment unit for adjusting the length of the leg massage unit. In this case, when the standing action occurs, the control unit controls the length adjustment unit to reduce the length of the leg massage unit.

[0016] According to an embodiment, the leg drive unit of this invention may include an angle adjustment unit for adjusting the angle of the leg massage unit. In this case, when the standing action occurs, the control unit controls the angle adjustment unit to rotate the leg massage unit in the opposite direction to the upright direction of the body massage unit.

[0017] Furthermore, the control unit of this invention can control the length adjustment unit and the angle adjustment unit when the standing action occurs, so as to reduce the length of the leg massage unit and rotate the leg massage unit in the opposite direction.

[0018] Furthermore, the control unit of this invention can control the angle adjustment unit to make the lower part of the leg massage unit horizontal with the ground when the standing action occurs.

[0019] Specifically, the leg massage part of this utility model may include: a fixed frame part, which is rotatably connected to the body massage part with a first rotation axis as a reference; a movable frame part, which is relatively movable relative to the fixed frame part; and a leg massage body, which is connected to the movable frame part.

[0020] In this case, the length adjustment unit of the present invention can adjust the length of the leg massage unit by raising and lowering the movable frame unit relative to the fixed frame unit, and the control unit of the present invention can control the length adjustment unit to raise the movable frame unit when the standing action occurs.

[0021] According to the embodiment, the control unit of this utility model can control the length adjustment unit to make the upper end of the leg massage body higher than the height of the first rotating axis when the standing action occurs.

[0022] Preferably, in one embodiment of the present invention, the massage device may further include a detection sensor for detecting the contact between the leg massage part and the ground.

[0023] In this case, the control unit of the present invention can use the detection signal of the detection sensor to control the leg drive unit to keep the leg massage unit in contact with the ground.

[0024] Specifically, the control unit of this utility model can use the detection signal of the detection sensor to control the length adjustment unit to keep the leg massage unit in contact with the ground, or the control unit can use the detection signal of the detection sensor to control the angle adjustment unit to keep the leg massage unit in contact with the ground.

[0025] Furthermore, in an embodiment that also includes a detection sensor for detecting the contact between the leg massage unit and the ground, at the point when the standing action is completed, if the leg massage unit is not in contact with the ground, the control unit of this invention can control the leg drive unit to make the leg massage unit contact the ground.

[0026] Preferably, the massage device according to one embodiment of the present invention may further include a detection sensor for detecting the pressure applied by the ground to the leg massage unit. In this case, from the point in time when the leg massage unit contacts the ground to the point in time when the standing action is completed, the control unit of the present invention can control the leg drive unit to keep the pressure detected by the detection sensor within a reference value range.

[0027] Specifically, the leg massage unit of this utility model may include: a first leg massage unit for massaging one side of the user's leg; and a second leg massage unit for massaging the other side of the user's leg, and moving relative to the first leg massage unit.

[0028] Furthermore, in an embodiment that also includes a detection sensor for detecting the contact between the leg massage unit and the ground, at the start of the standing action, when the leg massage unit is not in contact with the ground, the control unit of this invention can control the leg drive unit to make the leg massage unit contact the ground.

[0029] To achieve the above objectives, a massage device according to another embodiment of the present invention may include: a base frame capable of contacting the ground; an inclined frame combined with a main frame capable of supporting a part of the user's body and capable of rotating relative to the base frame; and an inclined drive unit connecting the base frame and the inclined frame, transmitting power to the inclined frame to cause the inclined frame to rotate relative to the base frame.

[0030] To achieve the above objectives, a massage device according to another embodiment of the present invention may include: a tilt drive unit that transmits power to a tilt frame that is combined with a main body frame capable of supporting a part of the user's body, so that the tilt frame rotates relative to a base frame capable of contacting the ground; a length drive unit that can adjust the length of a leg massage unit connected to the main body frame; and a control unit that simultaneously or sequentially controls the driving of the tilt drive unit and the length drive unit.

[0031] To achieve the above objectives, a massage device according to another embodiment of the present invention may include: a body massage unit for massaging at least a part of the user's body; a leg massage unit disposed below the body massage unit; a body drive unit for changing the position or posture of the body massage unit; a leg drive unit for adjusting the position of the leg massage unit; and a control unit for controlling the body drive unit and the leg drive unit so that the forward upright standing motion of the body massage unit is linked to the position adjustment of the leg massage unit.

[0032] According to another aspect of the present invention, in a massage device comprising a body massage unit for massaging at least a part of a user's body, a leg massage unit disposed below the body massage unit, a body drive unit for changing the position or posture of the body massage unit, a leg drive unit for adjusting the position of the leg massage unit, and a control unit, the method by which the control unit controls the massage device may include: a signal input step of inputting a start signal for making the body massage unit stand upright forward; and a control step of controlling the body drive unit and the leg drive unit so that the standing action of the body massage unit standing upright forward is linked to the position adjustment of the leg massage unit.

[0033] Utility Model Effect

[0034] According to one embodiment of the present invention, when a standing action or standing mode is activated, the posture or position of the body massage part is adjusted so that the body massage part stands upright forward, while the position of the leg massage part is adjusted to the position most suitable for the user's upright action, thereby further improving the convenience of the user leaving the massage device.

[0035] According to one embodiment of the present invention, during the process of changing the position or posture of the massage device by standing, it is possible to fundamentally prevent the leg massage part from colliding or interfering with the ground.

[0036] According to one embodiment of the present invention, when a standing action or standing mode is activated, the leg massage unit is controlled to contact the ground, thereby effectively preventing safety accidents that may occur when the user leaves the massage device, as well as problems such as tilting, tipping over, or damage to the device. Attached Figure Description

[0037] The accompanying drawings, which are attached to this specification, are used to illustrate preferred embodiments of the present invention and, in conjunction with the specific implementation details described below, to more effectively aid in understanding the technical concept of the present invention. Therefore, the present invention should not be interpreted solely based on the content depicted in these drawings.

[0038] Figure 1 This is a diagram illustrating a massage device according to an embodiment of the present invention.

[0039] Figure 2 This is a diagram illustrating the frame portion according to an embodiment of the present utility model.

[0040] Figure 3 This is a diagram illustrating the constituent elements of a massage device according to an embodiment of the present invention.

[0041] Figure 4This is a schematic diagram showing the state in which the leg massage unit according to an embodiment of the present invention is driven.

[0042] Figure 5 This is a side view showing the basic state of a massage device according to an embodiment of the present invention.

[0043] Figure 6 This is a diagram showing the tilting drive portion disposed in the frame portion according to an embodiment of the present invention.

[0044] Figure 7 It is along Figure 6 A side sectional view taken along line II'.

[0045] Figure 8 This is a perspective view showing a leg massage part according to an embodiment of the present invention.

[0046] Figure 9 This is a diagram showing the length drive unit according to an embodiment of the present invention.

[0047] Figures 10A to 10C This is a front view showing the state in which the length of the leg massage part according to an embodiment of the present invention is adjusted.

[0048] Figure 11 This is a diagram showing the state of the massage device in a standing position according to an embodiment of the present invention.

[0049] Figure 12 This is a diagram showing the state in which the length and angle of the leg massage section of the massage device are adjusted in a standing position according to an embodiment of the present invention.

[0050] Figure 13 and Figure 14 This is a block diagram illustrating the detailed configuration of a massage device according to an embodiment of the present invention.

[0051] Figure 15 This is a flowchart illustrating the overall processing procedure of this utility model.

[0052] Figure 16 This is a flowchart illustrating one embodiment of the present invention based on the action subject.

[0053] Figure 17 This is a flowchart illustrating the processing procedure of one embodiment of the standing action according to the present invention.

[0054] Figures 18 to 21 This is a flowchart illustrating the processing procedure according to other embodiments of the present invention.

[0055] Figure 22 and Figure 23This is a diagram illustrating the movement relationships of a massage device that provides standing motion.

[0056] Explanation of reference numerals in the attached figures

[0057] 200: Massage device; 210: Body massage unit; 210A: Seat unit; 210B: Backrest; 220: Body drive unit; 220A: Seat drive unit; 220B: Backrest drive unit; 230: Leg massage unit; 230A, 230B: First and second leg massage units; 240: Leg drive unit; 240A, 240B: First and second leg drive units; 241: Length adjustment unit; 241A, 241B: First and second length adjustment units; 243: Angle adjustment unit; 243A, 243B: First and second angle adjustment units; 250: Detection sensor; 270: Control unit Detailed Implementation

[0058] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Prior to this, the terms or words used in this specification and the appended claims should not be limited to their conventional or dictionary meanings, but should be interpreted as meanings and concepts consistent with the technical concept of the present invention, based on the principle that the inventors may appropriately define terms and concepts in order to best describe the utility model.

[0059] Therefore, the embodiments described in this specification and the configurations shown in the accompanying drawings are only one preferred embodiment of the present invention and do not represent all the technical ideas of the present invention. Therefore, it should be understood that various equivalents and modifications may exist to replace these at the time of this application.

[0060] When it is mentioned that a component is "connected" or "joined" to another component, it should be understood that it can be directly connected or joined to the other component, or that there may be other components in between.

[0061] Conversely, when it is said that one constituent element is "directly connected" or "directly joined" to another constituent element, it should be understood that there are no other constituent elements in between. Other expressions used to describe the relationship between constituent elements should also be interpreted in this way.

[0062] The terminology used in this specification is for illustrative purposes only and is not intended to limit the scope of the invention. Singular forms include plural forms unless the context clearly indicates otherwise.

[0063] In this specification, terms such as "comprising" or "having" indicate the presence of the described features, numbers, steps, actions, constituent elements, components, or combinations thereof. Therefore, it should be understood that these terms do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, actions, constituent elements, components, or combinations thereof.

[0064] Unless otherwise defined, all terms used in this specification (including technical and scientific terms) shall have the meanings commonly understood by one of ordinary skill in the art to which this invention pertains. Terms as defined in commonly used dictionaries shall be interpreted as having the meaning consistent with their meaning in the context of the relevant art, and shall not be interpreted in an idealized or overly formal sense unless expressly defined in this specification.

[0065] In this specification, an actuator refers to a component capable of providing driving force. For example, an actuator may include, but is not limited to, an electric motor, a linear motor, an electric motor, a direct current (DC) motor, an alternating current (AC) motor, a linear actuator, an electric actuator, etc.

[0066] The following will refer to Figures 1 to 12 First, the basic embodiments and driving mechanisms of this utility model are described in detail. Then, the specific contents of the embodiments of this utility model that provide standing actions or standing modes are described in detail.

[0067] Figure 1 This is a diagram illustrating one embodiment of the massage device according to the present invention.

[0068] According to one embodiment of the present invention, a massage device 100 can form an area for accommodating at least a portion of a user's body and includes: a body massage section 1000 for massaging the user's body; a leg massage section 2000 for massaging the user's legs; and an arm massage section 3000, which is provided with a placement section 3100 for accommodating the user's arm and for massaging the user's arm.

[0069] The body massage unit 1000 can provide massage to at least a part of a user's body. The body massage unit 1000 may include: a massage module 1700 for providing massage function to at least a part of a user's body; an audio output module 1500 for providing audio output to the user in any form; a frame unit 1100 for forming the skeleton of the body massage unit 1000; and a user input unit 1400 for receiving input from the user in any form.

[0070] The configuration included in the body massage unit 1000 described above is only an exemplary embodiment. The body massage unit 1000 may include various other configurations in addition to the above-described configurations.

[0071] also, Figure 1 The shape and structure of the massage device 100 shown are merely exemplary. Various forms of massage devices may also be included within the scope of this utility model, provided they do not depart from the scope of the claims defined by the appended claims.

[0072] The body massage unit 1000 can be configured to form a space of any shape to accommodate a user. The body massage unit 1000 can have a space corresponding to the shape of the user's body. For example, as... Figure 1 As shown, the body massage unit 1000 can be implemented as a seated type that can accommodate the whole body or part of the body of a user 10.

[0073] The part of the body massage unit 1000 that contacts the ground may include any material or component for increasing friction (e.g., anti-slip mat, etc.) and may include wheels for enhancing the mobility of the massage device 100.

[0074] At least a portion of the body massage unit 1000 can slide. For example, when the body massage unit 1000 begins to massage, at least a portion of the body massage unit 1000 can slide forward. Furthermore, the body massage unit 1000 can tilt backward. As a result, the body massage unit 1000 can provide massage while tilted backward.

[0075] According to one embodiment of the present invention, a massage device 100 may include at least one airbag. The airbag may be located in the user's shoulder area, pelvic area, arm massage area 3000, and leg massage area 2000, etc., but is not limited thereto, and may be configured in various parts of the massage device 100.

[0076] The massage device 100 may include an air supply unit that inflates an airbag by supplying air to it. The air supply unit may be located inside the body massage unit 1000 or in the leg massage unit 2000. Alternatively, the air supply unit may be located outside the massage device 100.

[0077] Reference Figure 1 The leg massage unit 2000 can provide leg massage to the user. For example, the leg massage unit 2000 may include a calf massage unit for massaging the user's calves and / or a foot massage unit for massaging the user's feet.

[0078] The leg massage section 2000 can be adjusted in length according to the user's body characteristics.

[0079] For example, when a tall user uses the massage device 100, the length of the leg massage section 2000 may need to be increased due to the longer calves. Conversely, when a short user uses the massage device 100, the length of the leg massage section 2000 may need to be shortened due to the shorter calves. Therefore, the leg massage section 2000 can provide customized leg massage according to the user's height.

[0080] Reference Figure 1Multiple leg massage units 2000 can be provided, and the user's left and right feet can be placed in multiple leg massage units 2000A and 2000B respectively. Multiple leg massage units 2000A and 2000B can operate independently.

[0081] Reference Figure 1 The leg massage unit 2000 may include a leg massage body 2200, which (specifically, a calf massage body 2210 and a foot massage body 2250) can be inserted into and placed on the user's calf and foot respectively.

[0082] The leg massage section 2000 will be explained in detail later.

[0083] The massage module 1700 can be disposed inside the body massage unit 1000 to provide any form of mechanical stimulation to the user accommodated in the body massage unit 1000. The massage module 1700 can be disposed along... Figure 1 The frame 1100 inside the body massage unit 1000 shown moves.

[0084] For example, the frame portion 1100 of the body massage unit 1000 may be provided with a rack gear 1112, and the massage module 1700 may move along the rack gear 1112 to provide mechanical stimulation to multiple parts of the user's body. The massage module 1700 may include a ball massage unit or a roller massage unit, but is not limited to these.

[0085] This massage module can also be installed in the leg massage unit 2000 and the arm massage unit 3000.

[0086] The frame portion 1100 constitutes the skeleton of the internal structure of the body massage portion 1000, and it can be made of materials such as metal or plastic. For example, the frame portion 1100 can be made of iron, alloy, steel, etc., but is not limited to these, and can be made of a variety of hard materials.

[0087] Reference Figure 3 According to one embodiment of the present invention, the massage device 100 may include an audio output module 1500.

[0088] The audio output module 1500 can be located in various positions. For example, the audio output module 1500 may include an upper audio output unit located on the upper end of the seat part 1000a that is in contact with the user sitting on the massage device 100, a front audio output unit attached to the front end of the arm massage parts 3000 on the left and right sides of the seat part 1000a, and / or a rear audio output unit attached to the rear end of the arm massage parts 3000, etc., but is not limited to these.

[0089] According to one embodiment of the present invention, the seat portion 1000a of the massage device 100 may include an upper body support portion (not specified in the reference numerals) that supports the upper body of the user and a lower body support portion (not specified in the reference numerals) that supports the lower body of the user.

[0090] The upper body support contacts and supports the user's upper body (specifically, from the head to the back), while the lower body support contacts and supports the user's body in the area below the upper body support, such as the buttocks and thighs.

[0091] In this case, the audio output module 1500 can provide stereo effects such as 5.1 channels, but is not limited to this.

[0092] According to one embodiment of the present invention, a user can control the massage device 100 via a massage device control device CD. The massage device control device CD can be connected to the massage device 100 via wired and / or wireless communication.

[0093] The massage device control device CD may include, but is not limited to, a remote controller, a cellular phone, a personal digital assistant (PDA), etc., and may include a variety of electronic devices that can be connected to the massage device 100 via wired or wireless communication.

[0094] Figure 2 It is used for explanation Figure 1 The diagram of the framework section, Figure 3 This is a diagram illustrating the constituent elements of a massage device according to an embodiment of the present invention.

[0095] According to one embodiment of the present invention, a massage device 100 may include at least one of a frame portion 1100, a control portion 1200, a storage portion 1300, a user input portion 1400, an audio output module 1500, a network connection portion 1600, and a massage module 1700.

[0096] The frame 1100 can form the skeleton of the body massage part 1000.

[0097] According to one embodiment of the present invention, the frame portion 1100 may include: a main frame (not specified in the reference numerals) having a massage module 1700; a base frame 1130 supporting the main frame; and an inclined frame 1150 connected to the main frame and capable of rotating the main frame relative to the base frame 1130.

[0098] The main frame may include a back frame 1110 that forms the skeleton of the user's upper body and a seat frame 1120 that forms the skeleton of the seat.

[0099] At least a portion of the main frame may be provided with a rack 1112. The rack 1112 serves as a guide for the body massage module in the vertical direction (within...). Figure 2 The component that moves (based on a reference) may include multiple valleys and multiple ridges.

[0100] According to one embodiment of the present invention, the rack 1112 can be arranged facing each other on two sides of the main frame (specifically the back frame 1110 and the seat frame 1120), and the body massage module can move along the rack 1112.

[0101] For example, the body massage module may include a gear that meshes with the rack 1112. The gear is rotated by an actuator provided in the body massage module, and the body massage module can move upward or downward.

[0102] The rack 1112 can be made of metal or plastic materials. For example, the rack 1112 can be made of iron, steel, alloy, reinforced plastic, melamine resin, phenolic resin, etc., but is not limited to these.

[0103] The main frame can be implemented in various shapes. For example, the main frame can be classified according to its shape as an S-frame, L-frame, S&L-frame, double S&L-frame, etc., but is not limited to these.

[0104] An S-frame is a frame in which at least part of the main frame is bent in an "S" shape. An L-frame is a frame in which at least part of the main frame is bent in an "L" shape. An S&L frame is a frame that includes both "S" and "L" shaped bends. A double S&L frame is a frame that includes both "L" shaped bends and two "S" shaped bends.

[0105] The base frame 1130 refers to the part of the frame section 1100 that supports the main frame and is in contact with the ground. The base frame 1130 may include an upper base frame 1131 and a lower base frame 1132.

[0106] The upper frame 1131 of the base can support the main frame and the inclined frame 1150 that is combined with the main frame, and the lower frame 1132 of the base can contact the ground.

[0107] The tilting frame 1150 is rotatably connected to the upper frame 1131 of the base. The lower frame 1132 of the base is combined with the upper frame 1131 of the base and is positioned between the upper frame 1131 of the base and the ground.

[0108] In addition, the upper frame 1131 of the base can abut against the lower frame 1132 of the base.

[0109] As an optional embodiment, the upper frame 1131 of the base can move along the lower frame 1132 of the base. For example, the upper frame 1131 of the base can slide forward or backward along the lower frame 1132 of the base. In this case, the main frame is connected to the upper frame 1131 of the base and can move with the movement of the upper frame 1131 of the base.

[0110] For example, when the upper frame 1131 of the base moves forward, the main frame can also move forward together; when the upper frame 1131 of the base moves backward, the main frame can also move backward together. This allows for the sliding movement of the body massage unit 1000.

[0111] Reference Figures 5 to 7 , Figure 11 and Figure 12 The front end of the lower frame 1132 of the base can be arranged facing each other with the side of the leg massage unit 2000.

[0112] That is, in the width direction of the massage device 100 (with Figure 6 Based on the left and right directions (referring to the base), the front end of the lower frame 1132 of the base can be arranged facing each other with one side of the leg massage unit 2000.

[0113] Specifically, the leg massage unit 2000, relative to the rotation center axis AX1 of the main frame provided in the frame unit 1100, can be positioned forward (towards) the main frame. Figure 5 (Based on the left side) configuration.

[0114] That is, the front end of the lower frame 1132 of the base can be located further forward than the rotation center axis AX1 of the leg massage part 2000 relative to the main frame (specifically the seat frame 1120).

[0115] The lower base frame 1132 may include a base contact portion 1136, which causes at least one of the front end and the rear end of the lower base frame 1132 to contact the ground.

[0116] By keeping the base contact portion 1136 located at the front end in contact with the ground, the massage device 100 (specifically the body massage portion 1000, leg massage portion 2000, and arm massage portion) can be prevented from tilting forward and tilting in the "standing mode" when the tilting frame 1150 rotates relative to the base frame 1130 and tilts forward.

[0117] Reference Figure 5 The front end of the lower frame 1132 of the base can be positioned further forward than the contact roller portion 2900 located at the rear end of the leg massage portion 2000.

[0118] From another perspective, when the contact roller 2900 on the leg massage unit 2000 is in contact with the ground, the front end of the lower frame 1132 of the base can be positioned further forward than the contact roller 2900 (so that...). Figure 5 The position is on the left side of the reference.

[0119] In the basic state and standing state of the massage device 100, the contact roller 2900 of the leg massage section 2000 can contact the ground. At this time, the front end of the lower frame 1132 of the base is positioned further forward than the contact roller 2900, thereby preventing the massage device 100 from tilting forward.

[0120] The control unit 1200 can control the operation of the massage device 100. The control unit 1200 can be implemented by one processor or by multiple processors. When the control unit 1200 is implemented by multiple processors, at least some of the multiple processors can be located at a physically separated distance from each other. Furthermore, the implementation of the control unit 1200 is not limited to this, and it can be implemented in various ways.

[0121] For example, the control unit 1200 may be equivalent to one or more processors. The processor may be implemented by a plurality of logic gate arrays, or by a combination of a general-purpose microprocessor and a memory storing a program executable on the microprocessor. Furthermore, those skilled in the art will understand that the control unit 1200 may also be implemented by other forms of hardware.

[0122] According to one embodiment of the present invention, the control unit 1200 can control the operation of the massage device 100.

[0123] For example, the massage device 100 may include a plurality of actuators, and the control unit 1200 may control the operation of the massage device 100 by controlling the operation of the plurality of actuators.

[0124] For example, the massage device 100 may include at least one of the following: a massage module movement actuator, at least one actuator included in the massage module 1700, a back angle actuator, a leg angle actuator, a foot massage actuator, a leg length adjustment actuator, and a sliding actuator. The control unit 1200 can control the operation of the massage device 100 by controlling these actuators.

[0125] The massage module movement actuator is an actuator that enables the massage module 1700 to move up and down. Through the action of the massage module movement actuator, the massage module 1700 can move along the rack 1112.

[0126] The back angle actuator is an actuator that adjusts the angle of the part of the massage device 100 that contacts the user's back. By the action of the back angle actuator, the back angle of the massage device 100 can be adjusted.

[0127] The leg angle actuator is an actuator that adjusts the angle of the leg massage section 2000 of the massage device 100. By the action of the leg angle actuator, the angle between the leg massage section 2000 and the body massage section 1000 can be adjusted.

[0128] A foot massage actuator is an actuator that drives the foot massage module included in the leg massage unit 2000. By utilizing the foot massage actuator, the massage device 100 can provide foot massage to the user.

[0129] The massage module 1700 may include at least one actuator, and the control unit 1200 may provide a variety of massage actions by activating the at least one actuator. For example, the control unit 1200 may provide tapping massage, kneading massage, etc. by activating the at least one actuator included in the massage module 1700, but is not limited to this, and may provide a variety of massage actions.

[0130] The leg length adjustment actuator refers to an actuator that adjusts the length of the leg massage unit 2000. For example, the control unit 1200 can adjust the length of the leg massage unit 2000 to fit the user by using the leg length adjustment actuator, thereby providing the user with a massage that is suitable for their body shape.

[0131] The sliding actuator enables the sliding motion of the massage device 100. For example, by the action of the sliding actuator, the upper frame 1131 of the horizontal base can move forward or backward, thereby causing the main frame connected to the upper frame 1131 of the horizontal base to also move forward or backward.

[0132] In this specification, "leg angle actuator" may refer to hinge drive unit 2800, and "leg length adjustment actuator" may refer to length drive unit 2500.

[0133] The control unit 1200 can control the drive of the length drive unit 2500 and the hinge drive unit 2800.

[0134] The configuration of the length drive unit 2500 and the hinge drive unit 2800 will be described in detail later.

[0135] The storage unit 1300 can store various types of information related to the massage device 100. For example, the storage unit 1300 may include massage control information, personal authentication information, etc., but is not limited to these.

[0136] The storage unit 1300 can be implemented using a non-volatile storage medium capable of continuously storing arbitrary data. For example, the storage unit 1300 may include, but is not limited to, a magnetic disk, an optical disk, a magnetic-optical storage device, and a storage device based on lightning memory and / or battery backup memory.

[0137] Furthermore, the storage unit 1300 may include memory. The memory may be a primary storage device directly accessed by the processor, such as dynamic random access memory (DRAM), static random access memory (SRAM), or other random access memory (RAM). This memory may refer to volatile storage devices where information stored disappears instantly upon power failure, but is not limited to these. This memory may be driven by the control unit 1200.

[0138] The user input unit 1400 can receive commands from the user related to the motion control of the massage device 100. The user input unit 1400 can be implemented in various forms. For example, the user input unit 1400 can be provided in the body massage unit 1000, the leg massage unit 2000, and the arm massage unit 3000, but is not limited to these.

[0139] The massage device 100 can receive various commands from the user through the user input unit 1400. For example, the massage device 100 can receive any command, such as selecting a massage module, selecting a massage mode, selecting massage intensity, selecting massage time, selecting a massage area, selecting the position and movement of the massage unit 1000, selecting the power switch (On-Off) of the massage device 100, selecting whether the heating function is working, and selecting audio source playback related commands, but is not limited to these.

[0140] As an optional embodiment, the user input unit 1400 may be equipped with hotkey-type buttons and / or selection buttons for performing direction selection, cancellation, input, etc., according to preset user setting functions or self-preset functions.

[0141] The user input unit 1400 can be implemented through a keypad, dome switch, touchpad (static / electrostatic), jog wheel, jog switch, etc., but is not limited to these. Furthermore, the user input unit 1400 can acquire commands through voice commands issued by the user based on voice recognition technology.

[0142] According to one embodiment of the present invention, the user input unit 1400 may include a display for displaying the operating state of the massage device 100 or the current state of the user. In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, a 3D display, etc., but is not limited thereto.

[0143] The audio output module 1500 can provide the user with audio output in any form. For example, the audio output module 1500 can provide brain stimulation to the user by outputting a sound source and / or binaural beats optimized for the massage mode provided by the massage device 100. The audio output module 1500 can output audio signals received via a network (not shown) or stored in an internal / external storage medium (not shown).

[0144] For example, the audio output module 1500 can output an audio source corresponding to the control of the user terminal via a network connection (e.g., Bluetooth connection). Furthermore, the audio output module 1500 can output any form of audio signal related to the movement of the massage device 100.

[0145] According to one embodiment of the present invention, a massage device 100 may include a network connection unit 1600. The network connection unit 1600 can communicate with modules inside the massage device 100, external massage devices 100, and / or user terminals via any type of network.

[0146] The network connectivity unit 1600 may include a wired / wireless access module for network access. Wireless access technologies may include wireless local area network (WLAN) (Wi-Fi), wireless broadband (Wibro), world interoperability for microwave access (WiMAX), high speed downlink packet access (HSDPA), etc.

[0147] Wired access technologies may include digital subscriber line (xDSL), fiber to the home (FTTH), power line communication (PLC), etc. Furthermore, the network connection unit 1600 may include a short-range communication module for data transmission and reception with any device / terminal within close range. For example, short-range communication technologies may include, but are not limited to, Bluetooth, radio frequency identification (RFID), infrared data association (IrDA), ultra-wideband (UWB), and ZigBee.

[0148] As mentioned above, a massage device 100 according to one embodiment of the present invention may include a massage module 1700. That is, the massage module 1700 is configured to provide mechanical stimulation to the user, and the massage module 1700 is movable along the frame portion 1100.

[0149] A massage device 100 according to one embodiment of the present invention may include a frame portion 1100. (See reference...) Figure 1 and Figure 2 As mentioned above, the frame portion 1100 can provide a movement path for the massage module 1700.

[0150] The control unit 1200 can provide massage by applying mechanical stimulation to the user through controlling the movement of the massage module 1700.

[0151] The control unit 1200 can move the massage module 1700 along the X-axis, Y-axis, and Z-axis. The control unit 1200 can also move the massage ball forward or backward along the X-axis, Y-axis, and Z-axis. Alternatively, the control unit 1200 can rotate the massage ball around the X-axis, Y-axis, and Z-axis.

[0152] According to one embodiment of the present invention, a massage device 100 may include a sensor unit 1800. In this case, the sensor unit 1800 may include one or more sensors. For example, the sensor unit 1800 may include a touch sensor, a pressure sensor, an infrared sensor, an LED sensor, a photoelectric sensor, a Hall sensor, a capacitive sensor, etc., but is not limited thereto.

[0153] The sensor unit 1800 can be used to acquire various types of information. For example, the sensor unit 1800 can be used to identify a user. That is, it can acquire information such as the user's seating position, the user's body shape, and whether the user has any physical abnormalities. Furthermore, the sensor unit 1800 can be used to acquire biometric information. That is, it can acquire fingerprint information, facial information, voice information, iris information, weight information, electrocardiogram information, body composition information, etc., but is not limited to these, and can include various types of biometric information.

[0154] As an optional embodiment, the massage device 100 can detect the contact area and / or contact position with the user through the sensor unit 1800.

[0155] In addition, the massage device 100 can obtain the user's shoulder position information through the sensor unit 1800.

[0156] Furthermore, the massage device 100 can provide customized massage based on the acquired information. For example, when the massage device 100 provides a shoulder massage, it can identify the user's shoulder position through the information acquired by the sensor unit 1800 and provide a shoulder massage to the user based on the identification result.

[0157] The leg massage unit 2000 can be configured to massage the user's legs. The leg massage unit 2000 can form a leg-accommodating space to accommodate the user's legs. (See reference...) Figure 1 Multiple leg massage units 2000 can be provided, and the user's left and right feet can be accommodated in multiple leg massage units 2000A and 2000B respectively.

[0158] Specifically, the multiple leg massage units 2000A and 2000B may each include a leg massage body 2200, and the user 10's left and right feet may be inserted into, placed in, and accommodated in the multiple leg massage bodies 2200A and 2200B respectively.

[0159] Multiple leg massage units 2000A and 2000B can receive electrical signals from the control unit 1200 and be driven independently.

[0160] That is, the multiple leg massage units 2000A and 2000B can operate independently.

[0161] The leg massage unit 2000 may include one or more of an airbag, a calf massage module (not shown), and a foot massage unit (not shown).

[0162] An airbag can be a component used to secure at least a part of a user's body. The airbag included in the leg massage unit 2000 can receive air from a separately provided air supply unit and inflate, thereby securing at least a part of the user's body.

[0163] The calf massage module (not shown) can be a component used to massage the calf portion of a user's leg. In this case, the calf massage module may include, but is not limited to, the ball massage unit or roller massage unit as described above.

[0164] The foot massage unit (not shown) may be a configuration for massaging a user's feet. The foot massage unit may include a foot massage module for massaging the user's feet. In this case, the foot massage module may include a ball massage unit or a roller massage unit, but is not limited to these.

[0165] Figure 4 This is a schematic diagram showing the state in which the leg massage unit according to an embodiment of the present invention is driven. Figure 5 This is a side view showing the basic state of a massage device according to an embodiment of the present invention. Figure 6 This is a diagram showing the tilting drive portion disposed in the frame portion according to an embodiment of the present invention. Figure 7 It is along Figure 6 A side sectional view cut along line II'. Figure 8 This is a perspective view showing a leg massage part according to an embodiment of the present invention. Figure 9 This is a diagram showing the length drive unit according to an embodiment of the present invention. Figures 10A to 10C This is a front view showing the state in which the length of the leg massage part according to an embodiment of the present invention is adjusted. Figure 11 This is a diagram showing the state of the massage device in a standing position according to an embodiment of the present invention. Figure 12 This is a diagram showing the state in which the length and angle of the leg massage section of the massage device are adjusted in a standing position according to an embodiment of the present invention.

[0166] Reference Figure 1 According to one embodiment of the present invention, the massage device 100 may include: a body massage unit 1000, a leg massage unit 2000, and an arm massage unit 3000.

[0167] Reference Figure 1 , Figure 2 , Figures 5 to 7 The body massage unit 1000 may include a frame unit 1100, which may include a main frame, a base frame 1130, and a tilting frame 1150.

[0168] As mentioned above, the main frame according to one embodiment of the present invention may include a back frame 1110 forming the skeleton of the user's upper body and a seat frame 1120 forming the skeleton of the seat.

[0169] The backrest frame 1110 and seat frame 1120 may have preset angles. The main frame (specifically, the backrest frame 1110 and seat frame 1120) is combined with the tilt frame 1150 described later and can be rotated together with the tilt frame 1150 in conjunction with the rotation of the tilt frame 1150 relative to the base frame 1130.

[0170] On the other hand, according to one embodiment of the present invention, the main frame is configured such that the angle of the reclining unit 4000 on the tilting frame 1150 can be changed up and down, thereby realizing the reclining function.

[0171] The reclining unit 4000 can change the angle of the seat frame 1120 and the back frame 1110 relative to the ground by tilting (or rotating) the main frame (specifically, the back frame 1110 and the seat frame 1120) relative to the tilt frame 1150.

[0172] Reference Figures 5 to 7 The tilting unit 4000 may include: a tilting drive unit 4100, a tilting track 1151, and a tilting roller 4500.

[0173] The tilting drive unit 4100 connects the tilting frame 1150 and the main frame, and can generate power to move the main frame relative to the tilting frame 1150.

[0174] As an optional embodiment, the tilting drive unit 4100 may include a rod (not shown) and move the rod by means of an electric actuator that operates a motor, thereby transmitting power to the main frame.

[0175] As an alternative embodiment, the tilting drive unit 4100 may be a hydraulic actuator that extends and retracts by fluid pressure supplied from a pneumatic supply device (not shown).

[0176] In the reclining drive unit 4100, one end facing the front side of the massage device 100 ( Figure 6 The lower end of the middle part can be hinged (or rotated) to the inclined frame 1150, on the other end facing the rear side of the massage device 100. Figure 6 The upper end of the part can be hinged (or rotated) to the main frame (specifically, the inclined bridging part 1100a).

[0177] The other end refers to the part that is connected to the tilting bridge 1100a in the tilting drive unit 4100 and can move along a preset path.

[0178] The reclining bridge 1100a connects the seat frame 1120, the backrest frame 1110 and the reclining drive unit 4100. The reclining bridge 1100a can be integrally formed with the seat frame 1120 or the backrest frame 1110.

[0179] As an optional embodiment, the reclining bridge 1100a may be part of the seat frame 1120 or the back frame 1110.

[0180] The reclining track 1151 forms the movement path of the reclining rollers 4500, which may be formed on both sides of the reclining frame 1150. The reclining rollers 4500, which are provided on the main frame (specifically, the back frame 1110 and / or the seat frame 1120), can move on the reclining track 1151 and perform the reclining function.

[0181] In this utility model, the inclined rail 1151 is formed on the inclined frame 1150, but it is not limited to this and can be implemented in various ways. For example, the inclined rail can be set separately from the inclined frame 1150 and combined with the inclined frame 1150.

[0182] The inclined track 1151 can form a preset angle with the ground and extend in an inclined manner in the vertical direction. However, it is not limited to this and can be implemented in various forms, such as forming a curved shape that bends vertically.

[0183] The tilting roller 4500 can be inserted into and moved on the tilting track 1151, which can be positioned in front of and / or behind the main frame.

[0184] Reference Figure 7 In this utility model, the reclining roller 4500 is set on the seat frame 1120, but it is not limited to this and can be implemented in various ways, such as being set on the back frame 1110.

[0185] In this utility model, the tilting roller 4500 is connected to the main frame, and the tilting rail 1151 is set on the tilting frame 1150, but it is not limited to this. Various modifications can be implemented. The tilting roller can be connected to the tilting frame 1150, and the tilting rail is set on the main frame (specifically, the back frame 1110 and / or the seat frame 1120).

[0186] When the massage device 100 is in its basic state (see reference) Figure 7 And when the tilting drive unit is in operation, one end of the tilting drive unit 4100 is connected to ( Figure 6 The main frame (specifically, the inclined bridge section 1100a) at the upper end of the middle will move forward to the side ( Figure 6 The inclined roller 4500 connected to the main frame can move along the inclined track 1151 set on the inclined frame 1150.

[0187] This allows the seat frame 1120 to rise while the back frame 1110 lowers. Therefore, the massage device 100 can be switched to a zero-gravity state (or reclining state), allowing the user to lie down.

[0188] When the massage device 100 is in a weightless state and the tilting drive unit 4100 moves in the opposite direction, one end connected to the tilting drive unit 4100 ( Figure 6 The main frame (specifically, the inclined bridge section 1100a) at the upper end of the middle will be tilted to the rearward side. Figure 6 The upper side of the inclined frame 1150 can move along the inclined track 1151 provided on the inclined frame 1150. The inclined roller 4500 connected to the main frame can move along the inclined track 1151 provided on the inclined frame 1150.

[0189] This allows the seat frame 1120 to lower while the back frame 1110 rises. Thus, the massage device 100 can change (return to) its basic state from a weightless state (or tilted state), allowing the user to sit comfortably.

[0190] Reference Figure 2 , Figures 5 to 7 , Figure 11 and Figure 12 According to one embodiment of the present invention, the inclined frame 1150 is combined with the main frame (specifically, the seat frame 1120) and can rotate relative to the base frame 1130.

[0191] The tilting frame 1150 can be connected to the base frame 1130 (specifically, the upper base frame 1131) in a manner that allows relative rotation along a predetermined rotation center axis AX1.

[0192] Reference Figure 5 The front side of the tilting frame 1150 is rotatably connected to the base frame 1130 (specifically, the upper base frame 1131), and the rear side of the tilting frame 1150 is connected to the tilting drive unit 1900, which will be described later.

[0193] Therefore, when the tilt drive unit 1900 is driven and its length is adjusted, the rear side of the tilt frame 1150 will tilt away from the ground. Figure 12 It moves from the bottom to the top and rotates counterclockwise with reference to the rotation center axis AX1 formed on the area where the base frame 1130 and the front side of the inclined frame 1150 are connected.

[0194] Reference Figure 5 The tilting frame 1150 is disposed between the base frame 1130 and the main frame, and can receive power from the tilting drive unit 1900 described later, and rotate relative to the base frame 1130.

[0195] Reference Figure 11As the inclined frame 1150 rotates relative to the base frame 1130, the main frame connected to the inclined frame 1150 can rotate and move, that is, as the main frame moves forward ( Figure 11 By rotating the massage device 100 to the left, it can achieve a "standing position (or standing mode)".

[0196] In this standing position, when the user is sitting on the massage device 100, the user can easily stand up forward after the massage; when the user wants to sit on the massage device 100, the area on the seat part 1000a located on the seat frame 1120 where the user can sit is moved forward and upward, so that the user can sit down easily.

[0197] According to one embodiment of the present invention, the inclined frame 1150 can be rotatably connected to the base frame 1130 at multiple locations. Specifically, the multiple locations can be configured on the rotation center axis AX1 of the inclined frame 1150 relative to the base frame 1130, and can be along the width direction of the massage device 100. Figure 6 The left and right directions are separated from each other.

[0198] Reference Figure 2 , Figure 5 and Figure 7 According to one embodiment of the present invention, the position of the main frame (specifically, the seat frame 1120 and the back frame 1110) connected to the inclined frame 1150 can be fixed.

[0199] As the tilting frame 1150 receives power from the tilting drive unit 1900 and rotates relative to the base frame 1130, the angle between the seat frame 1120 and the ground can change.

[0200] Reference Figure 7 When the tilting frame 1150 is in a state where it is not rotated relative to the base frame 1130, referred to as the "basic state (basic mode)", the front side of the main frame (specifically, the seat frame 1120) Figure 7 The left side of the middle can be relative to its rear side ( Figure 7 The right side of the middle) is located on the upper side ( Figure 7 (in the middle) position.

[0201] From another perspective, the seat frame 1120 can be configured to tilt upwards towards the front. Therefore, in its basic configuration, the user can comfortably sit on the seat frame 1120 and receive a massage.

[0202] Reference Figure 11 and Figure 12It is a standing state in which the inclined frame 1150 is rotated relative to the base frame 1130, and the front side of the main frame (specifically, the seat frame 1120) that is combined with the inclined frame 1150. Figure 7 The left side of the middle can be relative to its rear side ( Figure 7 The right side of the middle) is located further down (based on Figure 11 The position of ).

[0203] From another perspective, the seat frame 1120 can be configured to tilt downwards towards the front.

[0204] Therefore, when a user sits on the massage device 100 in order to use the massage device 100, the rear side of the seat frame 1120 and the seat part 1000a to which the user sits rises towards the front and upward, so that the sitting position can be located at a higher position relative to the basic state, thereby having the effect of being able to sit on the seat part 1000a easily.

[0205] Furthermore, when the user finishes using the massage device 100 and wants to leave the massage device 100, the rear side of the seat frame 1120 and the seat part 1000a where the user is seated rises towards the front and upward, thereby enabling the user to easily get up from the seat part 1000a.

[0206] Reference Figures 5 to 7 According to one embodiment of the present invention, the tilting frame 1150 can be connected to one side of the tilting drive unit 1900. As the tilting drive unit 1900 is driven, the tilting frame 1150 rotates relative to the base frame 1130, thereby changing from the basic state to the standing state.

[0207] Specifically, when the tilting frame 1150 rotates counterclockwise with respect to the rotation center axis AX1 of the tilting frame 1150 relative to the base frame 1130, it can change from the basic state to the standing state.

[0208] Furthermore, when the tilting frame 1150 rotates clockwise with reference to the rotation center axis AX1 of the tilting frame 1150 relative to the base frame 1130, it can change from the standing state to the basic state.

[0209] Reference Figure 2 , Figures 5 to 7 , Figure 11 and Figure 12 According to one embodiment of the present invention, the tilting drive unit 1900 connects the base frame 1130 (specifically, the lower base frame 1132) and the tilting frame 1150. By transmitting power to the tilting frame 1150, the tilting frame 1150 can rotate relative to the base frame 1130 with a preset rotation center axis AX1 as a reference.

[0210] Reference Figures 5 to 7 According to one embodiment of the present invention, one end of the tilting drive unit 1900 is connected to the base frame 1130, and the other end is connected to the tilting frame 1150.

[0211] The tilt drive unit 1900 can receive power from the outside and be driven to adjust its length. As the length of the tilt drive unit 1900 is adjusted, the tilt frame 1150 can rotate relative to the base frame 1130 about the rotation center axis AX1, thereby enabling a standing mode.

[0212] However, it is not limited to this. Within the technical concept that the tilting frame 1150 can rotate relative to the base frame 1130 as the tilting drive unit 1900 is driven, various modifications can be implemented, such as volume expansion methods like airbags or angle adjustment methods.

[0213] Reference Figure 7 One end of the tilting drive unit 1900 can be connected to the base frame 1130 in the front-rear direction ( Figure 7 The central part is based on the left and right directions in the middle.

[0214] Therefore, even when the length of the tilt drive unit 1900 is adjusted while in contact with the ground, the base frame 1130 can be stably kept in contact with the ground.

[0215] The tilt drive unit 1900 can be adjusted in length by means of an actuator. However, it is not limited to this and various modifications can be implemented, for example, the tilt drive unit 1900 can be adjusted in length by means of a cylinder.

[0216] The tilt drive unit 1900 can be electrically connected to the control unit 1200. The tilt drive unit 1900 can receive electrical signals from the control unit 1200 and be driven. As the tilt drive unit 1900 is driven, the length of the tilt drive unit 1900 is adjusted, thereby allowing the tilt frame 1150 and the main frame coupled to the tilt frame 1150 to rotate relative to the base frame 1130.

[0217] Reference Figure 5 and Figure 6 According to one embodiment of the present invention, a tilt drive unit 1900 is formed, but it is not limited thereto, and multiple tilt drive units 1900 may also be provided. Multiple tilt drive units 1900 may be arranged spaced apart from each other in the width direction of the massage device 100 (specifically, between the base frame 1130 and the main frame).

[0218] By providing multiple tilting drive units 1900, the load acting on the tilting frame 1150 and the main frame connected to the tilting frame 1150 when they rotate relative to the base frame 1130 is distributed.

[0219] Reference Figure 6 According to one embodiment of the present invention, the tilting drive unit 1900 can be located in the width direction of the massage device 100 (specifically, the base frame 1130 and the tilting frame 1150). Figure 6 The sides are separated from the central part by the left and right directions in the middle.

[0220] Therefore, it has the effect of preventing interference with other drive units (or actuators) located in the central part of the base frame 1130 and the tilt frame 1150.

[0221] Reference Figures 5 to 7 , Figure 11 According to one embodiment of the present invention, the tilt drive unit 1900 may include a tilt drive source 1910 and a tilt rod 1950.

[0222] Reference Figures 5 to 7 According to one embodiment of the present invention, a tilt drive source 1910 is used to generate driving force and can be connected to a base frame 1130.

[0223] Specifically, the tilt drive source 1910 can be connected to the lower frame 1132 of the base, but is not limited thereto, and can also be implemented in various forms, such as being connected to the upper frame 1131 of the base.

[0224] The tilt drive source 1910 can be rotatably connected to the base frame 1130 (specifically, the lower base frame 1132). Therefore, when the tilt rod 1950, described later, adjusts its length and the tilt frame 1150 rotates relative to the base frame 1130, a stable rotation path can be provided.

[0225] That is, when the tilting frame 1150 rotates relative to the base frame 1130, compared to the case where the tilting drive source 1910 is fixed in position and connected to the base frame 1130, it is possible to prevent the load from concentrating on the area where the tilting drive source 1910 is connected to the base frame 1130.

[0226] According to one embodiment of the present invention, the tilt drive source 1910 may be located further down relative to the tilt rod 1950 (so that...). Figure 5 (Based on the position). In other words, the area where the tilt drive source 1910 is connected to the base frame 1130 can be configured to be located lower than the area where the tilt rod 1950 is connected to the tilt frame 1150.

[0227] That is, because the length of the tilt bar 1950 has been adjusted, it is positioned relatively higher (to... Figure 5The tilting frame 1150 is positioned relative to the base frame 1130, so when the tilting frame 1150 rotates relative to the base frame 1130, it has the effect of reducing the load applied to the tilting drive unit 1900.

[0228] According to one embodiment of the present invention, the tilt drive source 1910 can receive an electrical signal from the control unit 1200 and adjust the length of the tilt rod 1950 by means of a motor. However, it is not limited to this. Various modifications can be implemented within the technical concept of adjusting the length of the tilt rod 1950 by transmitting power to the tilt rod 1950 in the form of a compressor or the like.

[0229] Reference Figure 5 , Figure 7 The tilt drive source 1910 can be connected to a position on the base frame 1130 corresponding to the lowest point of the main frame. Specifically, the tilt drive source 1910 can be connected to a position facing the area connected to the backrest frame 1110 and the seat frame 1120.

[0230] Therefore, when the tilt drive source 1910 generates power and adjusts the length of the tilt rod 1950, that is, when the tilt frame 1150 rotates relative to the base frame 1130 and the back frame 1110 moves forward (in the forward direction) Figure 5 When the main frame is in an upright standing position (from right to left), it can prevent the main frame from tilting excessively forward.

[0231] Reference Figures 5 to 7 According to one embodiment of the present invention, the tilting rod 1950 is connected to the tilting drive source 1910 and receives power from the tilting drive source 1910 to achieve length adjustment.

[0232] Reference Figures 5 to 7 According to one embodiment of the present invention, the tilting rod 1950 can be rotatably connected to the tilting frame 1150. Therefore, when the tilting frame 1150 receives power from the tilting drive source 1910 and rotates relative to the base frame 1130, a stable rotation path can be provided.

[0233] That is, when the tilting frame 1150 rotates relative to the base frame 1130, compared to the case where the end position of the tilting rod 1950 is fixed and connected to the tilting frame 1150, it is possible to prevent the load from concentrating on the area where the tilting rod 1950 is connected to the tilting frame 1150.

[0234] According to one embodiment of the present invention, the tilting rod 1950 may be configured on a higher side relative to the tilting drive source 1910 (i.e., ...). Figure 5 (Based on the position). In other words, the area where the tilt rod 1950 is connected to the tilt frame 1150 can be configured in a higher position relative to the area where the tilt drive source 1910 is connected to the base frame 1130.

[0235] That is, because the length of the tilt bar 1950 has been adjusted, it is positioned relatively higher (to... Figure 5 The position (based on the base frame 1130) thus has the effect of reducing the load applied to the tilt drive unit 1900 when the tilt frame 1150 rotates relative to the base frame 1130.

[0236] Reference Figures 5 to 7 Within the technical concept of the tilting rod 1950 receiving power from the tilting drive source 1910 to adjust its length, various variations can be implemented, such as forming it in a rack-pinion manner or a cylinder manner.

[0237] Reference Figure 5 and Figure 7 The tilt bar 1950 can be configured to, based on the base frame 1130, from the front ( Figure 5 The left side of the middle is further back ( Figure 5 (The right side of the middle) is more inclined upwards.

[0238] Therefore, when the length of the tilt bar 1950 is increased in the direction that the tilt bar 1950 is separated from the ground, the tilt bar 1950 can be made closer to the vertical direction, thereby having the effect of minimizing the load applied to the tilt drive unit 1900.

[0239] Reference Figure 5 and Figure 7 The other end of the tilt rod 1950, which is connected to the tilt drive source 1910, is connected to the tilt frame 1150. This other end can be configured to be positioned higher than the rotation center axis AX1 of the tilt frame 1150 relative to the base frame 1130. Figure 5 (Based on the position).

[0240] Reference Figure 1 , Figure 2 , Figure 5 , Figure 8 and Figure 9 According to one embodiment of the present invention, a leg massage unit 2000 is used to massage the user's legs and is rotatably connected to a main frame. It may include: a fixed frame unit 2100, a movable frame unit 2300, a length drive unit 2500, a length detection unit 2700, a hinge drive unit 2800, and a contact roller unit 2900.

[0241] Reference Figure 1According to one embodiment of the present invention, a plurality of leg massage units 2000 may be provided. The plurality of leg massage units 2000 may each include: a fixed frame unit 2100, a movable frame unit 2300, a length drive unit 2500, a length detection unit 2700, a hinge drive unit 2800, and a contact roller unit 2900.

[0242] One of the multiple leg massage units 2000A and 2000B is a leg massage unit 2000A that can accommodate the user's right foot, and another leg massage unit 2000B that can accommodate the user's left foot.

[0243] The leg massage unit 2000 may also include a leg massage body 2200, which may include: a calf massage body 2210 for placing and inserting into the user's calf and providing massage function to the user's calf; and a foot massage body 2250 for placing the user's foot and providing massage function to the user's foot.

[0244] Reference Figure 8 The illustration shows a leg massage unit 2000 among multiple leg massage units 2000A and 2000B, which accommodates the user's right foot. Figure 1 The diagram shows the leg massage body 2200 (specifically, the calf massage body 2210 and the foot massage body 2250) in an omitted state.

[0245] According to one embodiment of the present invention, the leg massage body 2200 can be combined with the movable frame part 2300 described later.

[0246] According to one embodiment of the present invention, the leg massage body 2200 (specifically, the calf massage body 2210 and the foot massage body 2250) is fixed in position to the movable frame part 2300 and can move relative to the fixed frame part 2100.

[0247] That is, as the movable frame portion 2300 moves relative to the fixed frame portion 2100, the calf massage body 2210 and the foot massage body 2250 can move relative to the fixed frame portion 2100 as a whole.

[0248] As an optional embodiment, multiple movable frame parts 2300 may be provided, one of which may be combined with the calf massage body 2210, and another may be combined with the foot massage body 2250.

[0249] Therefore, the multiple movable frame portions 2300 that are respectively combined with the foot massage body 2250 and the calf massage body 2210 can move independently on the fixed frame portion 2100 in the same direction, or in opposite directions, or move closer to each other, or move further away from each other.

[0250] Furthermore, since the foot massager 2250 inserted and placed on the user's foot and the calf massager 2210 inserted and placed on the user's calf can be separated from each other and moved independently on the fixed frame 2100, the length of the leg massager 2000 can be adjusted in various ways to accommodate different user leg lengths.

[0251] Multiple leg massage units 2000 can receive electrical signals from the control unit 1200 and operate independently.

[0252] Specifically, the multiple leg massage units 2000A and 2000B can rotate independently along a preset rotation center axis AX1, or their length can be adjusted independently by the drive of the length drive unit 2500 described later.

[0253] Reference Figure 8 , Figure 9 and Figure 10A This illustration shows a case where the leg massager 2000A, which accommodates the user's right foot, is missing the leg massager body 2200 in one of the multiple leg massagers 2000A and 2000B according to an embodiment of the present invention. Except for accommodating the user's left foot in another leg massager 2000B, the structure, working principle, and effect of the fixed frame part 2100, the movable frame part 2300, the length detection part 2700, the length drive part 2500, and the hinge drive part 2800 are the same as those of the leg massager 2000A. Therefore, the following description is based on the leg massager 2000A that can accommodate the user's right foot.

[0254] Reference Figure 1 According to one embodiment of the present invention, a leg massager body 2200 can be inserted into a user's leg and may include a leg massager body shell (not specified in the drawings) forming the appearance.

[0255] Reference Figure 1 According to one embodiment of the present invention, the outer shell of the leg massager body can form a receiving space for accommodating the user's legs.

[0256] The leg massager body 2200 can be combined with the movable frame 2300 and is equipped with a foot massage module (not specified in the attached drawings) to provide massage to the user's feet housed in the leg massager body shell.

[0257] Since the leg massage body 2200 is combined with the movable frame 2300, the leg massage body 2200 can move together with the movable frame 2300 as the fixed frame 2100 and the movable frame 2300 move relative to each other.

[0258] Reference Figures 10A to 10CAs the movable frame 2300, which is combined with the leg massage body 2200, moves relative to the fixed frame 2100, the length of the user's leg area receiving massage (hereinafter referred to as "leg length") can be adjusted.

[0259] Reference Figures 5 to 8 According to one embodiment of the present invention, the fixed frame portion 2100 is rotatably connected to the body massage portion 1000, specifically, it can be rotatably connected to the seat frame 1120.

[0260] Since the fixed frame 2100 is connected to the seat frame 1120 in a manner that allows it to rotate along a preset rotation center axis AX1, it has the effect of allowing the leg massage unit 2000 to rotate relative to the body massage unit 1000 in a clockwise or counterclockwise direction.

[0261] Reference Figure 8 , Figure 9 , Figures 10A to 10C The movable frame portion 2300 is movably connected to the fixed frame portion 2100. That is, with the position of the fixed frame portion 2100 fixed, the movable frame portion 2300 can move along the movable central axis AX2 on the fixed frame portion 2100.

[0262] Figure 10A The image shows the leg massage unit 2000 in its unadjusted state. Figure 10B The increased length of the leg massage unit 2000 is shown. Specifically, this is the case where the movable frame unit 2300 is positioned relative to the fixed frame unit 2100 along a first direction ( Figure 10B The state of moving from the top to the bottom.

[0263] Figure 10C The leg massage unit 2000 is shown in a reduced length state, where the movable frame unit 2300 is positioned relative to the fixed frame unit 2100 in a second direction opposite to the first direction. Figure 10C The state of moving from the bottom to the top.

[0264] In this specification, "length of the leg massage unit 2000 (or leg length)" refers to the length from the top of the fixed frame unit 2100 (within...). Figure 10A (Based on) to the lower end of the moving frame section 2300 (with) Figure 10A The distance up to (based on).

[0265] That is, it refers to the state in which the length (or leg length) of the leg massage unit 2000 increases when the movable frame unit 2300 moves relative to the fixed frame unit 2100 in the first direction; and the state in which the length of the leg massage unit 2000 decreases when it moves in the second direction.

[0266] Reference Figure 8 and Figure 9 According to one embodiment of the present invention, the fixed frame portion 2100 may include: a fixed frame body 2110, a hinge shaft 2130, and a shaft retainer 2150.

[0267] The fixed frame body 2110 is connected to the movable frame part 2300, and a groove-shaped guide rail 2111 can be formed along the movable central axis AX2 of the movable frame part 2300.

[0268] As the guide protrusion 2301 provided on the movable frame part 2300 is inserted into the guide rail 2111, the movable frame part 2300 can move relative to the fixed frame part 2100.

[0269] Reference Figure 8 and Figure 9 The hinge shaft 2130 is combined with the fixed frame body 2110 and can extend along the width direction of the fixed frame body 2110. Specifically, the hinge shaft 2130 can be formed in a cylindrical shape and combined with the fixed frame body 2110.

[0270] The longitudinal central axis of the hinge axis 2130 can be formed in the same way as the rotation central axis AX1 of the fixed frame portion 2100 relative to the body massage portion 1000 (specifically, the seat frame 1120).

[0271] Reference Figure 8 , Figure 9 and Figure 10A The hinge shaft 2130 is rotatably connected to the shaft retainer 2150 according to an embodiment of the present invention, the shaft retainer 2150 being disposed on the frame portion 1100 (specifically, the seat frame 1120) provided on the body massage portion 1000.

[0272] Multiple shaft retainers 2150 may be provided, and multiple shaft retainers 2150 may be connected to both ends of the hinge shaft 2130 respectively. A retainer groove 2151 may be formed on the shaft retainer 2150, and the end of the hinge shaft 2130 may be inserted into the retainer groove 2151.

[0273] The shaft retainer 2150 can be positioned and attached to the seat frame 1120. Alternatively, the shaft retainer 2150 can be positioned and attached to the seat frame 1120 via a holder bracket (not specified in the drawings).

[0274] Reference Figure 5 , Figure 7 , Figure 8 and Figure 10AAccording to one embodiment of the present invention, the movable frame portion 2300 is combined with the leg massage body 2200 that can be inserted into the user's leg, and can move relative to the fixed frame portion 2100.

[0275] The movable frame 2300 may include: a first movable frame 2310, which is combined with the calf massage body 2210; and a second movable frame 2350, which is combined with the foot massage body 2250.

[0276] The first moving frame 2310 and the second moving frame 2350 are connected to each other and can receive power from the length drive unit 2500 described later, so that they can move together when moving relative to the fixed frame unit 2100.

[0277] As an optional embodiment, the first movable frame 2310 and the second movable frame 2350 may be integrally formed and may move relative to the fixed frame portion 2100.

[0278] Reference Figure 8 and Figure 9 A guide protrusion 2301 protruding toward the fixed frame part 2100 may be formed on the side of the movable frame part 2300 that faces the fixed frame part 2100 (specifically, the fixed frame body 2110).

[0279] The guide protrusion 2301 can move on the fixed frame portion 2100 (specifically, the guide rail 2111 formed on the fixed frame body 2110), thereby having the effect of allowing the movable frame portion 2300 to move linearly relative to the fixed frame portion 2100 along the movable central axis AX2.

[0280] The guide protrusion 2301 can be located inside the guide rail 2111 formed on the fixed frame body 2110, and can be mounted on the guide rail 2111 along the length of the leg massage part 2000. Figure 8 Move in the up and down direction.

[0281] Reference Figure 8 , Figure 9 The guide protrusion 2301 may protrude from the movable frame portion 2300 (specifically, at least one of the first movable frame 2310 and the second movable frame 2350).

[0282] Reference Figure 5 , Figures 7 to 9 , Figure 10A According to one embodiment of the present invention, the length driving part 2500 can be configured between the fixed frame part 2100 and the movable frame part 2300, and the movable frame part 2300 can be moved relative to the fixed frame part 2100 (specifically, linearly) by generating rotational power.

[0283] The length drive unit 2500 connects the fixed frame unit 2100 and the movable frame unit 2300, and by transmitting power to the movable frame unit 2300, it can cause the movable frame unit 2300 to move relative to the fixed frame unit 2100 in a predetermined direction. Figure 8 (It moves linearly in the up and down directions).

[0284] Reference Figure 8 and Figure 9 According to one embodiment of the present invention, the length drive unit 2500 may include: a length drive source unit 2510, a lead unit 2530, and a transmission unit 2550.

[0285] Reference Figure 9 The length drive source 2510 can generate power by receiving a power source and transmit the power to the transmission unit 2550, which will be described later. The length drive source 2510 can generate rotational power. However, it is not limited to this, and various modifications can be implemented within the technical concept of transmitting power to the transmission unit 2550, for example, the length drive source 2510 can generate linear power.

[0286] Reference Figure 8 and Figure 9 The guide section 2530 is combined with the fixed frame section 2100, and can move in a direction parallel to the moving center axis AX2 of the moving frame section 2300. Figure 8 It extends in the vertical direction to form the shape.

[0287] According to one embodiment of the present invention, the guide portion 2530 may include a guide base 2531 and a guide shaft 2535. The guide base 2531 is combined with the fixing frame portion 2100 (specifically, the fixing frame body 2110) and may be disposed on the side of the fixing frame body 2110 facing forward.

[0288] In this utility model, the lead base 2531 is formed as a plate and is fixed in position to the fixed frame body 2110, but it is not limited to this and can also be modified in various ways, such as being integrally formed with the fixed frame body 2110.

[0289] The guide base 2531 may include a guide bracket 2532 that protrudes forward from the guide shaft 2535.

[0290] Reference Figure 8 and Figure 9 Multiple guide brackets 2532 can be provided, and multiple guide brackets 2532 can be connected to both ends of the guide shaft 2535. Figure 8 (The upper and lower ends of the middle section).

[0291] One side of the guide bracket 2532 connected to the guide shaft 2535 can be positioned further forward relative to the fixed frame body 2110.

[0292] That is, since the guide bracket 2532 is disposed between the guide shaft 2535 and the fixed frame body 2110, the guide shaft 2535 can be configured at a predetermined interval from one side of the fixed frame body 2110 which is connected to the guide base 2531 on which the guide bracket 2532 is disposed.

[0293] In other words, since the lead axis 2535 is not arranged on the same plane as the fixed frame body 2110, it has the effect of preventing interference with other components (e.g., electrical components) located inside the fixed frame body 2110.

[0294] According to one embodiment of the present invention, the guide bracket 2532 is connected to both ends of the guide shaft 2535. Figure 8 The upper and lower ends of the guide shaft 2535 are fixed to the fixed frame 2100, thus enabling the guide shaft 2535 to be stably fixed in position.

[0295] Reference Figure 8 and Figure 9 The lead shaft 2535 is connected to the lead base 2531 and can extend along its length ( Figure 8 It extends in the vertical direction to form the shape.

[0296] As previously mentioned, the lead shaft 2535 can protrude forward through the lead base 2531 (specifically, the lead bracket 2532).

[0297] The transmission unit 2550, described later, can travel along a predetermined direction on the guide shaft 2535. Figure 8 The guide shaft 2535 can provide a movement path for the transmission unit 2550 by moving in the up and down direction.

[0298] Along the preset direction (or height direction) Figure 8 The length of the guide shaft 2535, which extends in the vertical direction, can be relatively shorter than the length of the fixed frame part 2100.

[0299] Therefore, the length of the lead shaft 2535 is fixed in position along its length direction within the length range of the fixed frame portion 2100, thereby preventing the lead shaft 2535 from being exposed to the outside of the fixed frame portion 2100 when the moving frame portion 2300 moves relative to the fixed frame portion 2100.

[0300] Furthermore, since the lead shaft 2535 is not exposed outside the fixed frame portion 2100, it has the effect of preventing the lead shaft 2535 from contacting or interfering with the user's legs or other parts when it is exposed, and can prevent safety accidents from occurring.

[0301] The outer peripheral surface of the lead shaft 2535 may be threaded along its periphery. The lead shaft 2535 and the transmission unit 2550 may be connected by a threaded connection, and the inner peripheral surface of the transmission unit 2550 (specifically, the moving unit 2556) facing the outer peripheral surface of the lead shaft 2535 may be formed with a threaded groove (not shown in the figure).

[0302] Reference Figure 8 , Figure 9 and Figure 10A According to one embodiment of the present invention, the transmission part 2550 is combined with the moving frame part 2300, and can receive power from the length drive source part 2510 and move on the guide part 2530.

[0303] The transmission unit 2550 may include a transmission housing 2551 and a transmission body 2555. The transmission housing 2551 is fixed in position and coupled to the movable frame 2300, and can accommodate the transmission body 2555.

[0304] Reference Figure 8 The transmission housing 2551 can be fixed in position on the movable frame portion 2300 and move together with the movable frame portion 2300 relative to the fixed frame portion 2100.

[0305] Reference Figure 8 and Figure 9 The transmission housing 2551 may be combined with a sensor cover 2750 that houses the length detection unit 2700 (specifically, the sensor body 2730), which will be described later. The length detection unit 2700 will be described in detail later.

[0306] The transmission body 2555 is housed in the transmission housing 2551 and can receive power from the length drive source 2510 and move on the lead portion 2530. The transmission body 2555 may include a moving unit 2556 and a pulley unit 2557.

[0307] Reference Figure 9 According to one embodiment of the present invention, the moving unit 2556 can move on the guide portion 2530 and is connected to the guide portion 2530 by a threaded connection.

[0308] Specifically, the outer peripheral surface of the guide portion 2530 (specifically, the guide shaft 2535) is formed with a thread along the peripheral direction, and the inner peripheral surface of the moving unit 2556 facing the outer peripheral surface of the guide shaft 2535 can be formed with a threaded groove having a shape corresponding to the shape of the thread.

[0309] Therefore, the moving unit 2556 receives power from the length drive source 2510 via the pulley unit 2557 (described later) and is able to move linearly on the lead shaft 2535.

[0310] That is, since the moving unit 2556 can convert the rotational power generated from the length drive source 2510 into linear power, it can move along the lead axis 2535 in a predetermined direction ( Figure 8 Move in the up and down direction.

[0311] Reference Figure 8 , Figure 9 and Figure 10A According to one embodiment of the present invention, the pulley unit 2557 connects the length drive source 2510 and the moving unit 2556, and can transmit the power generated in the length drive source 2510 to the moving unit 2556.

[0312] The pulley unit 2557 can be formed in the form of a belt or a ring, and can transmit the rotational power generated by the length drive source 2510 to the moving unit 2556.

[0313] Specifically, the rotational power generated by the pulley unit 2557 can cause the moving unit 2556 to rotate.

[0314] After receiving the rotational power transmitted by the pulley unit 2557, the moving unit 2556 can rotate the central axis of the guide section 2530 along its length direction as the rotation axis, and can cause the moving unit 2556 to move along a predetermined direction on the guide section 2530 (specifically, the guide axis 2535). Figure 8 Move in the up and down direction.

[0315] As the moving unit 2556 moves on the lead axis 2535, the transmission housing 2551 that houses the moving unit 2556 and the moving frame portion 2300 that is coupled to the transmission housing 2551 can move relative to the fixed frame portion 2100.

[0316] Reference Figure 8 and Figure 9 The guide section 2530 (specifically, the guide shaft 2535) passes through the transmission housing 2551 and provides a movement path for the transmission housing 2551.

[0317] Specifically, a hole (not specified in the drawing) is formed through the transmission housing 2551 for the lead shaft 2535 to pass through. The transmission housing 2551 with the hole is arranged to surround the lead shaft 2535, thereby enabling the transmission unit 2550 and the movable frame unit 2300 on which the transmission unit 2550 is fixed to move stably relative to the fixed frame unit 2100.

[0318] Reference Figure 8 , Figure 9 and Figure 10AAccording to one embodiment of the present invention, a length detection unit 2700 is provided in a fixed frame part 2100 and a movable frame part 2300, and can measure the relative movement length corresponding to the relative movement of the movable frame part 2300 and the fixed frame part 2100.

[0319] In this utility model, "measuring relative movement length" refers to measuring the length relative to one side ( Figure 10A When the fixed frame part 2100, which has a rotation center axis AX1 fixed at the upper side of the body, moves relative to the movable frame part 2300, which is combined with the leg massage body 2200 that accommodates the user's legs, the change in leg length is measured.

[0320] That is, the length from the hinge axis 2130 provided in the fixed frame 2100 to the bottom of the leg massage body 2200 (specifically, the foot massage body 2250) that accommodates the user's feet can be regarded as the leg length. As the movable frame 2300, which is connected to the leg massage body 2200, moves relative to the fixed frame 2100, the leg length can change.

[0321] According to one embodiment of the present invention, the length detection unit 2700 can accurately identify the relative movement length corresponding to the relative movement of the moving frame unit 2300 and the fixed frame unit 2100, thereby accurately identifying the change in leg length.

[0322] Furthermore, by accurately identifying changes in leg length, it also has the effect of accurately identifying the position of the user's foot contained in the leg massage body 2200, which is combined with the movable frame 2300.

[0323] Reference Figure 9 According to one embodiment of the present invention, the length detection unit 2700 may include: a sensor plate 2710, a sensor body 2730, and a sensor cover 2750.

[0324] Reference Figure 8 , Figure 9 and Figure 10A According to one embodiment of the present invention, the sensor plate 2710 is disposed on the illumination path of the light irradiated by the sensor body 2730, and may be formed with a through hole 2711 to allow light to pass through.

[0325] According to one embodiment of the present invention, the sensor plate 2710 may be formed of a plastic material. Specifically, it may be formed of polypropylene (PP).

[0326] However, it is not limited to this and can be modified in many ways. For example, the sensor plate 2710 can be formed of metal materials, acrylonitrile butadiene styrene (ABS), polycarbonate (PC) materials, etc.

[0327] The sensor board 2710 can be positioned and fixed to the fixed frame portion 2100. Specifically, the sensor board 2710 can be attached to the fixed frame portion 2100 via the lead base 2531.

[0328] Reference Figure 8 and Figure 9 The sensor plate 2710 is connected to the lead base 2531, but it is not limited to this and can also be implemented in various ways, such as being directly attached to the fixed frame part 2100.

[0329] The following description assumes that the lead base 2531 and the fixed frame 2100 are integrally formed, and that the sensor plate 2710 is attached to the fixed frame 2100.

[0330] Not shown in the figure, the sensor plate 2710 can be fixed to the fixed frame part 2100 by fastening components such as bolts.

[0331] Sensor plate 2710 extends along the central axis in the length direction, and one side of it ( Figure 8 The upper side of the middle part can be fixed in position to the fixed frame part 2100.

[0332] One side of the sensor plate 2710 according to an embodiment of the present invention ( Figure 8 The upper part of the middle) is fixed to the fixed frame part 2100, and the opposite side ( Figure 8 The lower side of the middle section can be separated from the fixed frame section 2100.

[0333] Therefore, the sensor plate 2710 is fixed in position on one side of the fixed frame portion 2100. Figure 8 The opposite side (upper side) Figure 8 (Lower side of the sensor), its position can move and change as the sensor body 2730 moves on the sensor plate 2710.

[0334] Furthermore, since only one side of the sensor board 2710 ( Figure 8 The upper part of the sensor body 2730 is fixed to the fixed frame part 2100, while the other side has increased freedom of position. Therefore, when the sensor body 2730 moves and contacts the sensor plate 2710, the position of the sensor plate 2710 can be adjusted in accordance with the position change of the sensor body 2730.

[0335] That is, the friction between the sensor body 2730 and the sensor plate 2710 can be reduced, thereby preventing damage to the sensor body 2730 and the sensor plate 2710 due to friction.

[0336] Reference Figure 8 The sensor plate 2710 can be connected to the side portion based on the central portion of the fixed frame portion 2100.

[0337] Therefore, interference between the length drive unit 2500 (specifically, the lead unit 2530) connected to the fixed frame unit 2100 and the sensor plate 2710 can be prevented.

[0338] In this utility model, the sensor plate 2710 is fixed to the fixed frame portion 2100. A fastening hole (not shown in the figure) is formed on one side of the sensor plate 2710 so that the fastening member can pass through and the sensor plate 2710 can be fastened to the fixed frame portion 2100. However, it is not limited to this and various modifications can be implemented. For example, the sensor plate 2710 is fixed to the movable frame portion 2300, and a fastening hole is formed on one side of the sensor plate 2710 so that the fastening member can pass through and the sensor plate 2710 can be fastened to the movable frame portion 2300.

[0339] Reference Figure 8 The sensor board 2710 is only on one side ( Figure 8 The upper part of the middle is fixed to the fixed frame part 2100, while the other side opposite it ( Figure 8 The lower side of the frame is separated from the fixed frame part 2100, thereby increasing the degree of freedom.

[0340] Reference Figure 8 , Figure 9 , Figures 10A to 10C According to one embodiment of the present invention, the sensor plate 2710 may be formed with a through hole 2711 so that light irradiated by the sensor body 2730 can pass through.

[0341] The sensor plate 2710 can pass through the sensor body 2730 and be disposed inside the sensor body 2730, specifically between the light-emitting part and the light-receiving part of the sensor body 2730.

[0342] Since the sensor plate 2710 has a through hole 2711, in the area where the through hole 2711 is formed on the sensor plate 2710, the light irradiated by the light-emitting part can pass through the through hole 2711 and be transmitted to the light-receiving part.

[0343] When the light-receiving part receives light, it can transmit the relevant information to the control unit 1200, and determine the position of the sensor body 2730 on the sensor plate 2710 based on the information.

[0344] From another perspective, the movable frame portion 2300, to which the sensor body 2730 is fixed, moves relative to the fixed frame portion 2100, to which the sensor plate 2710 is fixed, thereby enabling the identification of the relative position of the movable frame portion 2300 relative to the fixed frame portion 2100.

[0345] From another perspective, the movable frame portion 2300 is combined with a leg massage body 2200 that accommodates the user's legs, and the position of the leg massage body 2200 combined with the movable frame portion 2300, which moves relative to the fixed frame portion 2100, can be identified.

[0346] Therefore, by measuring the relative movement length corresponding to the relative movement of the moving frame portion 2300 and the fixed frame portion 2100, the change in leg length can be accurately identified.

[0347] Furthermore, since it can accurately identify changes in leg length, it can also accurately identify the position of the user's foot contained in the leg massage body 2200, which is combined with the movable frame 2300.

[0348] Reference Figures 10A to 10C According to one embodiment of the present invention, the sensor plate 2710 may have a plurality of through holes 2711.

[0349] Specifically, multiple through holes 2711a, 2711b, 2711c, and 2711d can extend along the width direction of the sensor plate 2710. Figure 10A (The left and right directions in the configuration).

[0350] Reference Figure 8 The multiple through-holes 2711a, 2711b, 2711c, and 2711d correspond to multiple light-emitting and light-receiving portions arranged along the width direction of the sensor body 2730. Therefore, when any one of the multiple light-emitting portions illuminates light onto the light-receiving portion facing it, the light can pass through the through-hole 2711 located between the light-emitting portion and the light-receiving portion and be transmitted to the light-receiving portion.

[0351] Reference Figure 10A Multiple through holes 2711 can be arranged along the width direction of the sensor plate 2710.

[0352] Specifically, among the plurality of through holes 2711a, 2711b, 2711c, and 2711d formed in the sensor plate 2710, the first through hole 2711a, the second through hole 2711b, and the fourth through hole 2711d can be extended along the length direction of the sensor plate 2710. Figure 10A The axes (in the vertical direction) parallel to the central axis are spaced apart from each other in the width direction of the sensor plate 2710.

[0353] The first through hole 2711a, the second through hole 2711b and the fourth through hole 2711d formed in the sensor plate 2710 can be formed along any one of a plurality of axes.

[0354] Reference Figures 10A to 10C The first through hole 2711a, the third through hole 2711c, and the fourth through hole 2711d are along the length direction of the sensor plate 2710. Figure 10A The vertical direction (in the middle) does not form at the same height.

[0355] That is, the first through hole 2711a, the third through hole 2711c and the fourth through hole 2711d can be formed on only one of the multiple axes within a predetermined range along the length direction of the sensor plate 2710.

[0356] Reference Figure 10B The fourth through hole 2711d can be formed on the same axis as any one of the first through hole 2711a, the second through hole 2711b, and the third through hole 2711c.

[0357] Specifically, the fourth through hole 2711d may be formed on the shaft where the third through hole 2711c is located at the lowermost position.

[0358] Reference Figure 10B The movable frame portion 2300 is shown relative to the fixed frame portion 2100 from the top to the bottom (with... Figure 10B (Based on) the state of movement, for ease of explanation, Figure 8 The sensor body 2730 shown is separated from the third through hole 2711c. However, in this invention, when the light emitted by the light-emitting part provided on the sensor body 2730 passes through the third through hole 2711c, the position of the moving frame part 2300 relative to the fixed frame part 2100 indicates that the leg length of the leg massage part 2000 has reached its maximum length.

[0359] In this specification, the position is defined as "maximum position P3".

[0360] In this state, the movable frame 2300 can move in a direction away from the rotation center axis AX1 of the leg massage unit 2000 relative to the main frame (specifically, the seat frame 1120).

[0361] Reference Figure 8 , Figure 9 , Figure 10A and Figure 10B The fourth through hole 2711d can be configured on the shaft where the third through hole 2711c is located.

[0362] When the light emitted by the light-emitting part of the sensor body 2730 passes through the fourth through hole 2711d, the position of the moving frame part 2300 relative to the fixed frame part 2100 indicates the leg length of the leg massage part 2000 in the basic state of the massage device 100 when the user is receiving the massage function, rather than the leg length of the leg massage part 2000 in the standing state.

[0363] In this specification, this position is defined as "standard position P1".

[0364] The fourth aspect is that the length direction of the sensor plate 2710 can be seen through the hole 2711d. Figure 10A The first through hole 2711a and the third through hole 2711c are positioned between each other with the vertical direction as the reference.

[0365] When the light emitted by the light-emitting part of the sensor body 2730 passes through the first through hole 2711a, the position of the moving frame part 2300 relative to the fixed frame part 2100 indicates that the length of the leg massage part 2000 of the massage device 100 is at its shortest when the device is standing. In this specification, this position is defined as "standing minimum position P2".

[0366] In multiple shafts, the shaft formed between the first through hole 2711a and the third through hole 2711c along the width direction of the sensor plate 2710 may be provided with multiple second through holes 2711b, and along the length direction of the sensor plate 2710 ( Figure 10A The central axes (vertical and vertical) are arranged at preset intervals.

[0367] Therefore, when the sensor body 2730 moves on the sensor plate 2710, within a preset range, the light emitted by the light-emitting part can pass through at least one of the multiple through holes 2711a, 2711b, 2711c, and 2711d formed along the width direction, and the light selectively passes through to the light-receiving part, thereby having the effect of accurately identifying the positional changes of the moving frame part 2300 that moves relative to the fixed frame part 2100.

[0368] With multiple second through holes 2711b arranged spaced apart from each other along the length of the sensor plate 2710, the position corresponding to the leg length of the leg massage unit 2000 between the "maximum position" and the "minimum standing position" can be detected.

[0369] That is, within a preset range, when the sensor body 2730 moves on the sensor plate 2710, the light emitted by the light-emitting part can be transmitted to the light-receiving part multiple times under the action of multiple through holes 2711b.

[0370] Especially in the "standard position", the light emitted by the multiple light-emitting parts of the sensor body 2730 can simultaneously pass through the second through hole 2711b and the fourth through hole 2711d and be transmitted to the multiple light-receiving parts.

[0371] Reference Figure 10B The fourth through hole 2711d can be arranged along the length direction of the sensor plate 2710 at a position that is relatively closer to the first through hole 2711a than the third through hole 2711c.

[0372] Reference Figure 10B The first through hole 2711a and the fourth through hole 2711d can be arranged on different axes along the width direction of the sensor plate 2710. Specifically, the fourth through hole 2711d can be arranged on the same axis as the third through hole 2711c.

[0373] Therefore, it has the effect of preventing confusion and detection of the relative position of the moving frame portion 2300 relative to the fixed frame portion 2100 when the first through hole portion 2711a and the fourth through hole portion 2711d are formed on the same axis due to the close arrangement of the "minimum standing position" and the "standard position".

[0374] As the light emitted by the light-emitting part passes through multiple through holes 2711a, 2711b, 2711c, 2711d and is transmitted to the light-receiving part, the control unit 1200 can receive electrical signals from the light-receiving part and measure the relative movement length of the moving frame part 2300 relative to the fixed frame part 2100.

[0375] That is, this has the effect of being able to measure the relative movement length corresponding to the relative movement of the movable frame portion 2300 and the fixed frame portion 2100.

[0376] Furthermore, by measuring the relative movement length corresponding to the relative movement of the movable frame portion 2300 and the fixed frame portion 2100, it has the effect of accurately identifying changes in leg length of the leg massage portion 2000.

[0377] Furthermore, since it can accurately identify changes in leg length, it also has the effect of accurately identifying the position of the user's foot contained in the leg massage body 2200 which is combined with the movable frame 2300.

[0378] Reference Figure 9 According to one embodiment of the present invention, a sensor body 2730 is used to illuminate light and can be housed inside a sensor cover 2750, which will be described later. The sensor body 2730 is disposed on the outside of a sensor plate 2710 and can move on the sensor plate 2710.

[0379] Specifically, as the movable frame portion 2300 moves relative to the fixed frame portion 2100, the sensor cover 2750, which is fixed in position and attached to the movable frame portion 2300, will move together with the movable frame portion 2300, and the sensor body 2730 housed inside the sensor cover 2750 will also move.

[0380] Furthermore, as the sensor body 2730 moves, it can also move on the sensor plate 2710, which is fixed in position to the fixed frame portion 2100. The sensor body 2730 and the sensor plate 2710 can be configured to be spaced apart from each other at a predetermined interval.

[0381] This reduces friction between the sensor body 2730 and the sensor plate 2710, and prevents damage to the sensor body 2730 and the sensor plate 2710 due to friction.

[0382] However, it is not limited to this and various variations can be implemented. For example, the sensor body 2730 and the sensor plate 2710 can make surface contact and move relative to each other.

[0383] Reference Figure 9 According to one embodiment of the present invention, the sensor body 2730 is housed and fixed inside the sensor cover 2750, and the sensor plate 2710 is disposed and fixed in position on the fixed frame portion 2100.

[0384] Although not shown in the figure, the sensor body 2730 may include a light-emitting part and a light-receiving part. The light-emitting part is used to emit light, and the light-receiving part is used to receive the light emitted from the light-emitting part.

[0385] Reference Figure 9 The light-emitting part and the light-receiving part can be arranged facing each other with a sensor plate 2710 disposed inside the sensor body 2730 as a barrier. The light-emitting part can be arranged at a position relatively closer to the moving frame part 2300 than the light-receiving part. However, it is not limited to this and various modifications can be implemented. For example, the light-receiving part can be arranged at a position relatively closer to the moving frame part 2300 than the light-emitting part.

[0386] Multiple light-emitting parts can be provided, and corresponding to the multiple light-emitting parts, multiple light-receiving parts can also be provided.

[0387] Reference Figures 10A to 10C According to one embodiment of the present invention, three light-emitting parts and three light-receiving parts may be provided respectively to correspond to the three rows of through holes 2711a, 2711b, 2711c, 2711d formed along the width direction of the sensor plate 2710. However, it is not limited to this and various modifications may be implemented. For example, four or more light-emitting parts and four light-receiving parts may be provided respectively.

[0388] As an optional embodiment, the fourth through hole 2711d can be configured along an axis formed on an additional column.

[0389] As an optional embodiment, only one light-emitting part and one light-receiving part can be provided. By detecting that the light emitted from the light-emitting part is received by the light-receiving part, the moving length of the sensor body 2730 on the sensor plate 2710 can be measured.

[0390] According to one embodiment of the present invention, light emitted from the light-emitting part can pass through the through hole 2711 formed on the sensor plate 2710 and be transmitted to the light-receiving part.

[0391] Whether the light emitted by the multiple light-emitting parts is transmitted to the multiple light-receiving parts depends on the through hole 2711 formed on the sensor plate 2710. When the light-receiving part receives the light, it transmits the relevant information to the control unit 1200, thereby achieving the effect of accurately identifying the position of the moving frame part 2300 when the moving frame part 2300 moves relative to the fixed frame part 2100.

[0392] Furthermore, accurately identifying the position of the movable frame 2300 means that the position of the leg massage body 2200 combined with the movable frame 2300 can be identified, thereby enabling accurate measurement of changes in the length of the user's leg housed in the leg massage body 2200.

[0393] Reference Figure 8 and Figure 9 According to one embodiment of the present invention, a sensor cover 2750 is used to cover a sensor body 2730, which can be moved on a sensor plate 2710.

[0394] The sensor cover 2750 can form a space inside that can accommodate the sensor body 2730, thereby preventing external foreign objects from damaging the sensor body 2730.

[0395] Reference Figure 8 and Figure 9 The sensor cover 2750 can be fixed in position and attached to the length drive part 2500. Specifically, the sensor cover 2750 can be fixed in position and attached to the transmission part 2550 (specifically, the transmission housing 2551).

[0396] Thus, when the transmission unit 2550 receives the power generated by the length drive source unit 2510 and moves in the guide unit 2530, the transmission housing 2551 and the movable frame unit 2300 with which the transmission housing 2551 is attached can move relative to the fixed frame unit 2100.

[0397] Furthermore, the sensor cover 2750, which is fixed in position to the transmission housing 2551, moves together with it, thereby enabling precise measurement of the relative movement length between the fixed frame portion 2100 and the movable frame portion 2300.

[0398] Reference Figure 9 A cover slit 2751 can be formed through the sensor cover 2750 so that the sensor plate 2710 can pass through.

[0399] Thus, the sensor cover 2750, which houses the sensor body 2730, is positioned on the outside of the sensor plate 2710. When the moving frame portion 2300 moves relative to the fixed frame portion 2100, the sensor body 2730 and the sensor cover 2750 covering the sensor body 2730 can move in a predetermined direction. Figure 10A The sensor moves on the sensor board 2710 in the up and down direction.

[0400] Reference Figure 8 , Figure 9 and Figure 10A The sensor cover 2750, which houses the sensor body 2730, is fixed in position to the length drive unit 2500 (specifically, to the transmission housing 2551 provided in the transmission unit 2550). Therefore, it can move together with the movable frame unit 2300, which moves relative to the fixed frame unit 2100, thereby improving the accuracy of relative length measurement.

[0401] As an optional embodiment, the leg massage unit 2000 may include one or more limit sensors on the fixed frame portion 2100. The limit sensor may be a sensor for defining the length adjustment limit of the leg massage unit 2000. Alternatively, the limit sensor may be a sensor for defining a reference position of the leg massage unit 2000. For example, the limit sensor may be a Hall sensor, but is not limited thereto.

[0402] By including a limit sensor, the fixed frame portion 2100 and the movable frame portion 2300 will not move further apart than a certain limit, which can prevent safety accidents and prevent the movable frame portion 2300 from completely separating and detaching from the fixed frame portion 2100.

[0403] In another embodiment, the leg massage unit 2000 may include an encoder. The encoder can identify the relative movement length of the fixed frame unit 2100 and the movable frame unit 2300, thereby defining the leg length adjustment limit of the leg massage unit 2000.

[0404] That is, the encoder can identify the distance between the fixed frame part 2100 and the movable frame part 2300, and stop the relative movement of the fixed frame part 2100 and the movable frame part 2300 when a certain limit point is reached.

[0405] An encoder may be installed in the length drive unit 2500 (specifically, the length drive source unit 2510). The encoder can acquire information related to the rotational power generated by the length drive source unit 2510 and transmit it to the control unit 1200.

[0406] The control unit 1200 can receive information related to the rotation amount and speed of the length drive source unit 2510 from the encoder.

[0407] That is, the rotational power generated by the length drive source 2510 is transmitted to the transmission 2550. As the transmission 2550 moves on the guide 2530 (specifically, the guide shaft 2535), relative movement occurs between the fixed frame 2100 and the movable frame 2300, thereby adjusting the leg length of the leg massage unit 2000.

[0408] In this case, the encoder can detect the amount of rotation of the length drive source 2510, and can move relative to the fixed frame 2100 and the movable frame 2300 due to the amount of rotation.

[0409] In other words, the encoder can fine-tune the leg length change corresponding to the relative movement between the fixed frame 2100 and the movable frame 2300.

[0410] Furthermore, the control unit 1200 can receive electrical signals from the encoder and calculate the rotation amount and drive speed of the length drive source unit 2510.

[0411] Reference Figures 4 to 7 According to one embodiment of the present invention, the hinge drive unit 2800 is rotatably connected to the main frame, and can adjust the relative rotation angle of the leg massage unit 2000 relative to the main frame by transmitting power to the fixed frame unit 2100.

[0412] Reference Figure 5 and Figure 7 The hinge drive unit 2800 may include a hinge drive source unit 2810 and a hinge connection unit 2830. The hinge drive source unit 2810 is connected to the frame unit 1100 (specifically, the seat frame 1120) and can receive power from an external source to generate power.

[0413] The hinge drive source 2810 may include a drive rod 2811, the length of which can be adjusted as the hinge drive source 2810 generates power. The drive rod 2811 transmits power to the hinge connection 2830, described later, to cause the hinge connection 2830 to rotate relative to the seat frame 1120.

[0414] Reference Figure 5 and Figure 7 The hinge connection part 2830 may include: a hinge connection body 2831, one side of which is connected to the drive rod 2811 and the other side is rotatably connected to the seat frame 1120; and a hinge connection roller 2835, which is rotatably connected to the end of the hinge connection body 2831 and is able to contact the fixed frame part 2100.

[0415] As the hinge drive source 2810 generates power, the length of the drive rod 2811 is adjusted, the hinge connection 2830 rotates relative to the seat frame 1120, and the hinge connection roller 2835 makes rolling contact on the rear surface of the fixed frame 2100, thereby adjusting the relative rotation angle of the leg massage unit 2000 (specifically, the fixed frame 2100) relative to the seat frame 1120.

[0416] According to one embodiment of the present invention, the hinge drive unit 2800 receives an electrical signal from the control unit 1200 and drives it, and related details will be described in detail later.

[0417] Reference Figures 5 to 9 , Figures 10A to 10C According to one embodiment of the present invention, the contact roller portion 2900 is rotatably connected to the movable frame portion 2300. Specifically, the contact roller portion 2900 is rotatably connected to the second movable frame 2350 which is combined with the foot massage body 2250.

[0418] According to one embodiment of the present invention, multiple contact roller portions 2900 may be provided, and multiple contact roller portions 2900 are arranged on both sides of the leg massage portion 2000.

[0419] The contact roller unit 2900 may include a contact roller 2910 and a contact sensor (not specified in the drawings). The contact roller 2910 can rotate about a preset rotation axis and can make contact with the ground.

[0420] The contact sensor can identify the contact between the roller 2900 and the ground, detect that the contact roller 2910 (specifically, the contact roller 2910) is in contact with the ground, or measure the pressure applied to the contact roller 2910.

[0421] The contact sensor is provided on the contact roller 2910 and can be configured inside the contact roller 2910, but it is not limited to this. Various modifications can also be implemented, such as configuring it on the outside of the contact roller 2910 within the technical concept of detecting the contact between the contact roller 2910 and the ground.

[0422] The contact sensor is electrically connected to the control unit 1200 and can transmit information in the form of electrical signals regarding whether the contact roller 2900 (specifically, the contact roller 2910) is in contact with the ground and the pressure applied to the contact roller 2910 due to contact with the ground.

[0423] The following describes the working principle and effects of a massage device 100 according to an embodiment of the present invention as described above.

[0424] Reference Figures 1 to 5 According to one embodiment of the present invention, the massage device 100 may include: a body massage unit 1000, a leg massage unit 2000, and an arm massage unit 3000. The body massage unit 1000 may include: a frame unit 1100, a control unit 1200, and a tilt drive unit 1900.

[0425] The tilt drive unit 1900 receives an electrical signal from the control unit 1200 and drives it. As the tilt drive unit 1900 is driven, the tilt frame 1150, which is combined with the frame unit 1100, can rotate relative to the base frame 1130 (specifically, the upper frame 1131 of the base).

[0426] Reference Figure 5 and Figure 7 The diagram shows a "basic state (or basic mode)" in which no power is generated in the tilt drive unit 1900, in which massage can be provided to at least a part of the body of a user sitting on the massage device 100.

[0427] Reference Figure 11 and Figure 12 The diagram shows the state in which the tilt drive unit 1900 generates power, namely the "standing state (or standing mode)," which allows the user to easily sit on the massage device 100 or to easily stand up after completing the massage.

[0428] Reference Figure 5 , Figure 7 and Figure 11 When power is generated in the tilt drive unit 1900 (specifically, the tilt drive source 1910), the length of the tilt rod 1950 can be adjusted. As the length of the tilt rod 1950 increases, the rear side of the tilt frame 1150 connected to the tilt rod 1950 moves upward, thereby causing the front side of the tilt frame 1150, which is rotatably connected to the base frame 1130 (specifically, the upper base frame 1131), to rotate counterclockwise around the rotation center axis. Figure 11 Rotate based on (reference).

[0429] Therefore, the tilt frame 1150 and the main frame (specifically, the seat frame 1120 and the back frame 1110) combined with the tilt frame 1150 rotate relative to the base frame 1130.

[0430] This causes the seat frame 1120 and backrest frame 1110 to move forward ( Figure 11 The middle section is tilted from right to left.

[0431] Reference Figure 7 and Figure 11 Since the tilt drive source 1910 that generates power is located relatively lower, and the tilt rod 1950 whose length is adjusted is located relatively higher than the tilt drive source 1910, when switching from the basic state to the standing state, it has the effect of minimizing the load applied to the tilt drive unit 1900 and causing the tilt frame 1150 to rotate relative to the base frame 1130.

[0432] The control unit 1200 is electrically connected to the tilt drive unit 1900 and the length drive unit 2500. As the tilt drive unit 1900 is driven, the length of the leg massage unit 2000 can be adjusted by controlling the drive of the length drive unit 2500.

[0433] Specifically, the control unit 1200 can control the length drive unit 2500 and simultaneously or sequentially control the drive of the hinge drive unit 2800.

[0434] When the control unit 1200 switches between the basic state and the standing state, it can control the drive of the length drive unit 2500 and the hinge drive unit 2800 to keep the leg massage unit 2000 (specifically, the contact roller unit 2900) in contact with the ground.

[0435] The control unit 1200 receives information from the contact roller unit 2900 (specifically, the contact sensor) regarding whether the contact roller 2910 is in contact with the ground and the pressure-related information. It adjusts the length of the leg massage unit 2000 by controlling the drive of the length drive unit 2500 to maintain the contact roller 2910 in contact with the ground, or adjusts the angle of the leg massage unit 2000 relative to the body massage unit 1000 by controlling the drive of the hinge drive unit 2800.

[0436] The following describes the process of switching between the "basic state" and the "standing state". First, the process of switching from the basic state (see...) will be described. Figure 7 Switch to standing position (see reference) Figure 12 The process of ).

[0437] During the tilting process, the control unit 1200 can drive the tilting drive unit 1900. Specifically, the tilting drive source 1910 can receive electrical signals from the control unit 1200 and transmit power to the tilting rod 1950.

[0438] Reference Figure 7 and Figure 11 As the length of the tilting rod 1950 is adjusted and increased, the tilting frame 1150 can rotate relative to the base frame 1130.

[0439] Specifically, due to one end of the tilting rod 1950 ( Figure 11 The upper end of the frame is rotatably connected to the rear side region of the tilt frame 1150, with the rotation center axis formed on the front side of the tilt frame 1150 as a reference, and the tilt frame 1150 can rotate relative to the base frame 1130.

[0440] In the step of adjusting the leg length of the leg massage unit, the length of the leg massage unit 2000 can be adjusted simultaneously or sequentially with the tilting step of rotating the tilting frame 1150 relative to the base frame 1130.

[0441] Reference Figure 11 ,and Figure 7 Compared to the basic state shown, the leg massage unit 2000 is positioned forward relative to the rotation center axis AX1 of the body massage unit 1000. Figure 11 Move to the left side (in the middle) and to the lower side (towards). Figure 11 (Based on) the movement.

[0442] At this time, the control unit 1200 can transmit an electrical signal to the leg massage unit 2000 (specifically, the length drive unit 2500) to reduce the length of the leg massage unit 2000.

[0443] Reference Figures 10A to 10C This demonstrates the process of adjusting the leg length of the leg massage unit 2000. Figure 10A This shows the basic state of the length drive unit 2500 when it is not driven (see reference). Figure 7 (The image is missing.)

[0444] Reference Figure 10C The figure shows the state in which the movable frame portion 2300 moves upward relative to the fixed frame portion 2100 and the leg length decreases.

[0445] That is, it is a diagram showing the state in which the movable frame 2300 moves toward the direction of the rotation center axis AX1 of the leg massage unit 2000 relative to the body massage unit (specifically, the seat frame 1120).

[0446] When the control unit 1200 transmits an electrical signal to the length drive unit 2500 (specifically, the length drive source unit 2510), the length drive source unit 2510 generates rotational power. The power generated by the length drive source unit 2510 can be transmitted to the transmission unit 2550.

[0447] Reference Figure 9 The power generated by the length drive source 2510 is transmitted to the moving unit 2556 through the pulley unit 2557, and the moving unit 2556 moves along a predetermined direction on the guide unit 2530. Figure 9 (It moves linearly in the up and down directions).

[0448] The guide section 2530 is fixed to the fixed frame section 2100, and the length drive section 2500 (specifically, the transmission section 2550) can be fixed to the movable frame section 2300. Therefore, the movable frame section 2300 can move relative to the fixed frame section 2100 to adjust the leg length.

[0449] Reference Figure 9 The transmission housing 2551 is connected to the length drive source and houses the pulley unit 2557 and the moving unit 2556. Its position is fixed on the moving frame part 2300. Therefore, the power generated by the length drive part 2500 can be directly transmitted to the moving frame part 2300, which has the effect of enabling the moving frame part 2300 to move stably relative to the fixed frame part 2100.

[0450] Reference Figure 10C As the length drive unit 2500 receives and drives the electrical signal from the control unit 1200, it can... Figure 7 The "standard position" moves toward the "minimum standing position," which is the position of the moving frame 2300 relative to the fixed frame 2100 when the light emitted by the light-emitting part of the sensor body 2730 passes through the first through hole 2711a. Figure 12 The "standing position" shown can be reached at the "minimum standing position".

[0451] Reference Figures 10A to 10C Since the guide section 2530 is combined with the fixed frame section 2100, even when the movable frame section 2300 moves relative to the fixed frame section 2100, the upper end of the movable frame section 2300 (with) Figure 10C (Based on the reference) even when the guide section 2530 crosses the rotation center axis AX1, it will not be exposed to the outside of the leg massage section 2000, thus having the effect of preventing safety accidents caused by the guide section 2530 being exposed to the outside.

[0452] Figure 11 This shows the state in which the leg length of the leg massage unit 2000 is adjusted during the process in a standing position. Figure 12 It shows that with Figure 11 The length of the tilt drive unit 1900 (specifically, the tilt rod 1950) is further increased to be greater than that of the tilt drive unit 1900. Figure 11 The tilted frame 1150 in the middle rotates at a larger angle θ1 relative to the base frame 1130 than at a larger angle θ2.

[0453] During the leg length adjustment step, the contact between the roller 2900 and the ground can be detected. During the step of detecting the contact between the roller 2900 and the ground, the control unit 1200 can receive information from the roller 2900 (specifically, the contact sensor) in the form of an electrical signal regarding whether the contact roller 2910 is in contact with the ground and the pressure applied to the contact roller 2910 due to the contact with the ground.

[0454] The control unit 1200 can adjust the speed at which the leg massage unit 2000 is adjusted from the standard position to the minimum standing position based on whether the contact roller unit 2900 is in contact with the ground.

[0455] During the step of adjusting the length of the leg massage unit 2000, the control unit 1200 can receive information related to the length of the leg massage unit 2000 (specifically, the relative movement length between the fixed frame unit 2100 and the movable frame unit 2300) and the drive speed of the length drive unit 2500 from the length detection unit 2700.

[0456] In addition, the control unit 1200 can receive information from the contact sensor regarding whether the contact roller 2900 (specifically, the contact roller 2910) provided in the leg massage unit 2000 remains in contact with the ground.

[0457] That is, in the step of adjusting the leg length, the control unit 1200 can transmit an electrical signal to the length drive unit 2500 and control the drive of the length drive unit 2500 to gradually shorten the length of the leg massage unit 2000, so that the contact roller 2910 remains in contact with the ground.

[0458] Specifically, when switching from the basic state to the standing state, the control unit 1200 can control the drive of the length drive unit 2500 during the leg length adjustment step, so that the pressure applied to the contact roller 2900 when the contact roller 2910 contacts the ground can have a pressure value within a preset range.

[0459] In the process of adjusting the leg length, the control unit 1200 can receive information from the length detection unit 2700 regarding whether the length of the leg massage unit 2000 has reached the maximum shortened state, i.e. whether the minimum standing position has been reached, and stops the driving of the length drive unit 2500 when the position of the moving frame unit 2300 relative to the fixed frame unit 2100 is the minimum standing position.

[0460] In the step of adjusting the leg angle of the leg massage unit 2000, the relative angle of the leg massage unit 2000 with respect to the frame unit 1100 (specifically, the seat frame 1120) can be adjusted.

[0461] In the step of transmitting an electrical signal to the length drive unit 2500 and adjusting the leg length of the leg massage unit 2000, the control unit 1200 may simultaneously or sequentially transmit an electrical signal to the hinge drive unit 2800 (specifically, the hinge drive source unit 2810) to adjust the leg angle.

[0462] Reference Figure 12 As the hinge drive unit 2800 is driven, the length of the drive rod 2811 can be adjusted and increased due to the power generated by the hinge drive source unit 2810.

[0463] At this time, the hinge connection part 2830 (specifically, the hinge connection body 2831) rotates forward relative to the seat frame 1120, thereby increasing the rotation angle of the leg massage part 2000 (specifically, the fixed frame part 2100) relative to the seat frame 1120.

[0464] Reference Figure 7 and Figure 12 As the tilting frame 1150 rotates relative to the base frame 1130, the position of the relative rotation center axis AX1 between the seat frame 1120, which is connected to the tilting frame 1150, and the leg massage unit 2000 changes.

[0465] In the process of adjusting the leg angle, the following effect is achieved: even if the position of the relative rotation center axis AX1 between the seat frame 1120 and the leg massage unit 2000 changes as the hinge drive unit 2800 receives an electrical signal from the control unit 1200 and is driven, the leg angle can be adjusted while adjusting the length of the leg massage unit 2000 so that the angle formed between the leg massage unit 2000 and the ground remains constant.

[0466] Reference Figure 11 and Figure 12 As the rotation angle of the tilting frame 1150 relative to the base frame 1130 increases, the control unit 1200 can transmit an electrical signal to the hinge drive unit 2800 to increase the rotation angle of the leg massage unit 2000 relative to the seat frame 1120.

[0467] However, this is not the only option. Various modifications can be implemented. For example, within the technical concept of keeping the contact roller portion 2900 of the leg massage portion 2000 in contact with the ground, the rotation angle of the leg massage portion 2000 (specifically, the fixed frame portion 2100) relative to the seat frame 1120 can be reduced, and an electrical signal can be transmitted to the length drive portion 2500 simultaneously or sequentially to reduce the length of the leg massage portion 2000.

[0468] Next, describe the transition from the standing position (see reference). Figure 12 Switch to basic state (see reference) Figure 7 The process of ).

[0469] During the tilting process, the control unit 1200 can drive the tilting drive unit 1900. Specifically, the tilting drive source 1910 can receive electrical signals from the control unit 1200 and transmit power to the tilting rod 1950.

[0470] Reference Figure 11 and Figure 12 In a standing position (refer to) Figure 12 As the length of the tilting rod 1950 is adjusted and reduced, the tilting frame 1150 can lie horizontally relative to the base frame 1130. Figure 11 (in the clockwise direction) relative rotation.

[0471] Specifically, due to one end of the tilting rod 1950 ( Figure 11 The upper end of the frame is rotatably connected to the rear side region of the tilting frame 1150, which can be positioned relative to the base frame 1130 in a lying direction with reference to a rotation center axis formed on the front side of the tilting frame 1150. Figure 11 (Relative rotation in a clockwise direction)

[0472] In the step of adjusting the leg length of the leg massage unit, the length of the leg massage unit 2000 can be adjusted simultaneously or sequentially with the tilting step of rotating the tilting frame 1150 relative to the base frame 1130.

[0473] Reference Figure 11 ,and Figure 12 Compared to the standing position shown, the leg massage unit 2000 is positioned rearward relative to the rotation center axis AX1 of the body massage unit 1000. Figure 11 Move to the right side (in the middle) and to the upper side (towards) Figure 11 (Based on) the movement.

[0474] At this time, the control unit 1200 can transmit an electrical signal to the leg massage unit 2000 (specifically, the length drive unit 2500) to increase the length of the leg massage unit 2000.

[0475] Specifically, the control unit 1200 can control the drive of the length drive unit 2500 to adjust the leg length of the leg massage unit 2000, so that the position of the moving frame unit 2300 relative to the fixed frame unit 2100 reaches a "standard position" for the leg length of the leg massage unit 2000, which is the basic state in which the user receives the massage function, rather than the standing state of the massage device 100.

[0476] Figure 10C The image shows the "minimum standing position". As the length drive unit 2500 receives an electrical signal from the control unit 1200 and is driven, it can move from the "minimum standing position" towards the "standard position". The "standard position" is the position of the moving frame unit 2300 relative to the fixed frame unit 2100 when the light emitted by the light-emitting part of the sensor body 2730 passes through the fourth through hole 2711d. Figure 7 The state shown is the "basic state".

[0477] When switching from a standing state to a basic state, the contact between the contact roller 2900 and the ground can also be detected during the leg length adjustment step. During the step of detecting the contact between the contact roller 2900 and the ground, the control unit 1200 can receive information from the contact roller 2900 (specifically, a contact sensor) in the form of an electrical signal regarding whether the contact roller 2910 is in contact with the ground and the pressure applied to the contact roller 2910 due to the contact with the ground.

[0478] The control unit 1200 can adjust the speed at which the leg massage unit 2000 adjusts from the minimum standing position to the standard position based on whether the contact roller unit 2900 is in contact with the ground.

[0479] During the step of adjusting the length of the leg massage unit 2000, the control unit 1200 can receive information related to the length of the leg massage unit 2000 (specifically, the relative movement length between the fixed frame unit 2100 and the movable frame unit 2300) and the drive speed of the length drive unit 2500 from the length detection unit 2700.

[0480] In addition, the control unit 1200 can receive information from the contact sensor regarding whether the contact roller 2900 (specifically, the contact roller 2910) provided in the leg massage unit 2000 remains in contact with the ground.

[0481] That is, in the step of adjusting the leg length, the control unit 1200 can transmit an electrical signal to the length drive unit 2500 and control the drive of the length drive unit 2500 to gradually extend the length of the leg massage unit 2000, so that the contact roller 2910 remains in contact with the ground.

[0482] Specifically, when switching from a standing state to a basic state, the control unit 1200 can control the drive of the length drive unit 2500 during the step of adjusting the leg length of the leg massage unit, so that the pressure applied to the contact roller 2900 when the contact roller 2910 contacts the ground can have a pressure value within a preset range.

[0483] During the leg length adjustment process, the control unit 1200 can receive information from the length detection unit 2700 regarding whether the length of the leg massage unit 2000 has been adjusted. Figure 7 The information related to the standard position in the basic state shown is displayed, and the drive of the length drive unit 2500 is stopped when the position of the moving frame unit 2300 relative to the fixed frame unit 2100 is the standard position.

[0484] In the step of adjusting the leg angle of the leg massage unit 2000, the relative angle of the leg massage unit 2000 with respect to the frame unit 1100 (specifically, the seat frame 1120) can be adjusted.

[0485] In the step of transmitting an electrical signal to the length drive unit 2500 and adjusting the leg length of the leg massage unit 2000, the control unit 1200 may simultaneously or sequentially transmit an electrical signal to the hinge drive unit 2800 (specifically, the hinge drive source unit 2810) to adjust the leg angle.

[0486] Reference Figure 12 As the hinge drive unit 2800 is driven, the length of the drive rod 2811 can be adjusted and reduced due to the power generated by the hinge drive source unit 2810.

[0487] At this time, the hinge connection part 2830 (specifically, the hinge connection body 2831) rotates rearward relative to the seat frame 1120, thereby reducing the rotation angle of the leg massage part 2000 (specifically, the fixed frame part 2100) relative to the seat frame 1120.

[0488] Reference Figure 7 and Figure 12 As the tilting frame 1150 rotates relative to the base frame 1130, the position of the relative rotation center axis AX1 between the seat frame 1120, which is connected to the tilting frame 1150, and the leg massage unit 2000 changes.

[0489] In the process of adjusting the leg angle, the following effect is achieved: even if the position of the relative rotation center axis AX1 between the seat frame 1120 and the leg massage unit 2000 changes as the hinge drive unit 2800 receives an electrical signal from the control unit 1200 and is driven, the leg angle can be adjusted while adjusting the length of the leg massage unit 2000 so that the angle formed between the leg massage unit 2000 and the ground remains constant.

[0490] Reference Figure 11 and Figure 12 As the rotation angle of the tilting frame 1150 relative to the base frame 1130 decreases, the control unit 1200 can transmit an electrical signal to the hinge drive unit 2800 to reduce the rotation angle of the leg massage unit 2000 relative to the seat frame 1120. Therefore, as Figure 7 As shown, the massage device can be used from a standing position (see reference). Figure 12 Switch to basic mode.

[0491] According to one embodiment of the present invention, the control unit 1200 can receive information related to the pressure applied to the contact roller 2910 due to contact with the ground from the contact roller unit 2900 (specifically, the contact sensor), and control the driving of the hinge drive unit 2800 and the length drive unit 2500 so that the pressure has a preset range.

[0492] Therefore, when the leg massage unit 2000 is in contact with the ground, it has a pressure within a preset range, which has the effect of preventing excessive load on the leg massage unit 2000 due to contact with the ground when switching between the basic state and the standing state.

[0493] The control unit 1200 can receive information from the contact sensor about whether the contact roller 2910 is in contact with the ground, and control the drive of the length drive unit 2500 and the hinge drive unit 2800 to make the contact roller 2910 contact the ground and maintain a preset pressure.

[0494] Therefore, in the standing state where the tilted frame 1150 is rotated forward relative to the base frame 1130, the contact roller 2910 provided in the leg massage part 2000 (specifically, the contact roller part 2900) can remain in contact with the ground.

[0495] Furthermore, since the leg massage unit 2000 remains in contact with the ground, the user can sit stably on the massage unit 100 to receive a massage while the massage unit 100 is standing, and can also stand up stably by applying a load to the leg massage unit 2000 in contact with the ground when getting up after the massage.

[0496] The following will refer to Figures 13 to 23 The following describes in detail the specific structure, processing, and functions of the massage device 200 that provides an embodiment of standing motion (standing mode) and the like (hereinafter referred to as the "Second Embodiment").

[0497] Of course, the massage device 200 described below may include a combination or selective application of one or more of the components included in the aforementioned massage device 100.

[0498] Furthermore, some of the terms and / or reference numerals used in the massage device 200 and its sub-components described below in the second embodiment may differ from those used in the massage devices of the foregoing embodiments.

[0499] This is for the purpose of effectively describing the tooling requirements of this embodiment. As long as those skilled in the art can implement the corresponding technical ideas, one or more of the embodiments described below can be interpreted as being the same as or equivalent to one or more of the foregoing configurations.

[0500] For example, the leg massage unit 230 and body massage unit 210 described in the second embodiment below correspond to the leg massage unit 2000 and body massage unit 1000 described in the foregoing embodiments, respectively, and the control unit 270 of the second embodiment corresponds to the control unit 1200 of the foregoing embodiments.

[0501] Furthermore, in the second embodiment, the position of the leg massage unit 230 is adjusted by angle and / or length adjustment, and the leg drive unit 240, which may include a length adjustment unit 241 and / or an angle adjustment unit 243, may correspond to the length drive unit 2500 and / or hinge drive unit 2800 of the aforementioned embodiments. In the second embodiment, the body drive unit 220, which changes the angle, posture, position, etc., of the body massage unit 210, may correspond to the sliding actuator, back angle actuator, and / or tilt drive unit 1900 of the aforementioned embodiments.

[0502] As mentioned above, the leg massage unit 230 can be composed of a pair of leg massage units 230A and 230B. Therefore, the leg drive unit for adjusting the length and / or angle of the leg massage unit can also be composed of a pair of leg drive units 240A and 240B.

[0503] The first leg drive unit 240A (specifically, the first length adjustment unit 241A) is connected to the first leg massage unit 230A, allowing adjustment of the length of the first leg massage unit 230A. For example, the first leg drive unit 240A can be disposed between one end and the other end of the first leg massage unit 230A, connecting the two ends. The first leg drive unit 240A can provide a length-adjusting driving force to the first leg massage unit 230A to adjust the length between its two ends, thereby adjusting the length of the first leg massage unit 230A. The second leg drive unit 240B operates similarly.

[0504] The first leg drive unit 240A (specifically, the first angle adjustment unit 243A) is connected to the first leg massage unit 230A, allowing adjustment of the angle of the first leg massage unit 230A. For example, the first leg drive unit 240A can be positioned behind the first leg massage unit 230A and between it and the body massage unit 210, connecting the first leg massage unit 230A and the body massage unit 210. The first leg drive unit 240A can adjust the angle of the first leg massage unit 230A by pushing or pulling it from behind, causing the first leg massage unit 230A to rotate (or tilt) in a clockwise or counterclockwise direction.

[0505] As described above, the first leg drive unit 240A is disposed between the rear of the first leg massage unit 230A and the body massage unit 210 for connecting the first leg massage unit 230A and the body massage unit 210, but is not limited thereto.

[0506] For example, the first leg drive unit 240A can be configured in various positions that allow the first leg massage unit 230A to rotate clockwise or counterclockwise (e.g., the side of the first leg massage unit 230A, the rotation hinge axis of the first leg massage unit 230A, the rear of the first leg massage unit 230A, etc.). The above description of the first leg drive unit 240A also applies to the second leg drive unit 240B.

[0507] The terms used in the following description, such as upper, lower, front, rear, vertical, horizontal, etc., are only used to provide a relative reference for describing the embodiments of the present invention, and are not used to specify the direction or position in an absolute reference. Obviously, these terms will vary relative to the position of the object, the position or direction of view, etc.

[0508] The following will be in the Z-axis direction (refer to) Figure 22 and Figure 23The embodiments of this utility model are described using vertical or up-down reference directions, the X-axis direction as a reference direction for the front-back direction, and the Y-axis direction as a reference direction for the left-right direction. For example, the positive Z-axis direction corresponds to the upward direction, upper side, above, or a corresponding directionality, and the negative Z-axis direction corresponds to the downward direction, lower side, below, or a corresponding directionality.

[0509] Figure 13 and Figure 14 This is a block diagram illustrating the detailed structure of a massage device 200 according to an embodiment of the present invention. Figure 15 This is a flowchart illustrating the overall processing procedure of this utility model. Figure 16 This is a flowchart illustrating one embodiment of the present invention based on the action subject.

[0510] like Figure 13 As shown, the massage device 200 of this utility model may include one or more of the following: a body massage unit 210, a body drive unit 220, a leg massage unit 230, a leg drive unit 240, a detection sensor 250, and a control unit 270.

[0511] Figure 13 and Figure 14 This is a block diagram used to highlight the massage device 200 of the second embodiment of the present invention. Therefore, the massage device 200 of the present invention can be implemented in various ways, except... Figure 13 and Figure 14 In addition to the configuration shown, other configurations described in the foregoing embodiments may also be included.

[0512] Figure 13 The components of the massage device 200 shown can be physically separate components, or they can be functionally or logically separate components.

[0513] That is, each of the constituent elements shown in the figure is a constituent element for effectively illustrating the technical concept of the present utility model. Therefore, even if these constituent elements are integrated or separated, as long as they can achieve the function performed by the composition of the present utility model, they should be interpreted as falling within the scope of the present utility model. Furthermore, if the constituent elements perform the same or similar functions, they should be interpreted as falling within the scope of the present utility model regardless of whether their names are the same.

[0514] Furthermore, the control method of the massage device involved in this utility model can be realized as a whole through a collection or algorithm of data processing, control, calculation, input and output, etc. Therefore, it can be installed as software in a device, computer (or similar device), module or its subordinate components and driven.

[0515] As a component of the massage device 200 of this utility model, the leg massage unit 230 can be disposed below the body massage unit 210 that massages at least a part of the user's body. According to an embodiment, the leg massage unit 230 may include a first leg massage unit 230A and a second leg massage unit 230B capable of relative movement, and the first leg massage unit 230A and the second leg massage unit 230B may be disposed substantially side by side to conform to the human body structure.

[0516] As a component of the massage device 200 of this utility model, the first arm massage unit can be disposed on the side of the body massage unit 210 and disposed at a position corresponding to the first leg massage unit 230A. The first arm massage unit can accommodate the user's arm (left arm or right arm) and is configured to perform various types and methods of massage actions on the accommodated arm.

[0517] The second arm massage unit can be configured in a manner that conforms to the human body structure on the side of the body massage unit 210 (specifically, in the opposite position to the first arm massage unit) and configured in a position corresponding to the second leg massage unit 230B.

[0518] If the first arm massage unit and the first leg massage unit 230A are configured to massage the user's left arm and left leg respectively, then the second arm massage unit and the second leg massage unit 230B may be configured to massage the user's right arm and right leg respectively.

[0519] The first leg drive unit 240A of this utility model can be configured to perform functions such as rotating or moving the first leg massage unit 230A in two or more directions, or performing extension and contraction (stretching and contraction) based on user input signals, internal algorithms for judging whether preset conditions are met, or the specifications and functions of the first leg massage unit 230A.

[0520] In other words, the first leg massage unit 230A can rotate in more than two directions and move in more than two directions via the first leg drive unit 240A.

[0521] For example, the first leg massage unit 230A can be rotated (or tilted) by the first leg drive unit 240A in the upper (or front, clockwise) and / or lower (or rear, counterclockwise) direction of the massage device 200, thereby adjusting its angle.

[0522] Furthermore, the length of the first leg massage unit 230A can be adjusted by moving the first leg drive unit 240A in the upward direction (or one end direction) and / or the downward direction (or the other end direction).

[0523] The functions, actions, and controls of the second leg drive unit 240B can be configured correspondingly to those of the first leg drive unit 240A. Therefore, the above-mentioned content regarding the first leg drive unit 240A can also be applied to the second leg drive unit 240B.

[0524] The detailed configuration of the first leg massage unit 230A and the second leg massage unit 230B in this embodiment corresponds to that of the leg massage units 2000A and 2000B in the aforementioned embodiments. Therefore, detailed descriptions of their structure, operation, control, etc., will be replaced by the descriptions above. The same applies to the first leg drive unit 240A and the second leg drive unit 240B in this embodiment.

[0525] The body drive unit 220 of this invention can be configured to adjust or change the position, posture, or angle of the body massage unit 210 based on user input signals, internal algorithms determining whether preset conditions are met, or the specifications and functions of the body massage unit 210, and can cause the body massage unit 210 to slide forward or backward. Of course, the body drive unit 220 of this invention can be designed to be controlled by the control unit 270 of this invention.

[0526] The body drive unit 220 may include a seat drive unit 220A and / or a backrest drive unit 220B. The seat drive unit 220A and the backrest drive unit 220B may be configured to change the angle, position, posture, etc. of the seat unit 210A and the backrest 210B, which are components of the body massage unit 210, by means of user input signals or by driving algorithms corresponding to massage modes.

[0527] The control unit 270 of this utility model can control the body drive unit 220 to realize the forward upright movement of the body massage unit 210 (hereinafter referred to as "standing movement").

[0528] When a standing action occurs, the position, posture, angle, etc. of the body massage unit 210 (specifically, the seat unit 210A and / or the backrest 210B) will change so that the user can easily leave the massage device 200, thereby improving the convenience and safety of the user leaving (getting off the seat) process.

[0529] The control unit 270 of this utility model starts the standing action (step S100, refer to...) Figure 15 The body drive unit 220 is controlled to make the body massage unit 210 stand upright forward, and the leg drive unit 240 is controlled to make the standing motion of the body massage unit 210 linked with the position adjustment of the leg massage unit 230 (step S130).

[0530] The standing motion can begin in various situations, such as the end of an ongoing massage, a user input selection signal, or the fulfillment of preset conditions (step S100).

[0531] The standing action or standing mode described in this utility model refers to the action (mode) or similar action (mode) that controls the posture, position, etc. of the body massage unit 210, so that the body massage unit 210 tilts forward or tilts while the body massage unit 210 rises. It belongs to the action (mode) unique to this utility model for improving the ease, convenience, safety, stability, etc. of the user's behavior of leaving the massage device 200.

[0532] like Figure 16 As shown, when the standing mode starts (step S210), the control unit 270 of this utility model generates control signals (first and second control signals) for driving the body massage unit 210 and the leg massage unit 230 respectively (step S220), and outputs the generated first and second control signals to the body drive unit 220 and the leg drive unit 240 (steps S230A and S230B).

[0533] When a first control signal is input from the control unit 270 (step S230A), the body drive unit 220 of this utility model drives the body massage unit 210 according to the first control signal, so that the body massage unit 210 stands upright forward (step S240A).

[0534] When a second control signal is input from the control unit 270 (step S230B), the leg drive unit 240 of this invention adjusts the length and / or angle of the leg massage unit 230 to adjust the position of the leg massage unit 230 (step S240B).

[0535] In a specific embodiment, the body drive unit 220 can be implemented as a hardware board (body drive board) consisting of electronic, electrical, or mechanical components or elements for signal (control signal, etc.) interfaces and drive actions of the body massage unit 210.

[0536] The leg drive unit 240 can also be implemented as a hardware board (leg drive board) consisting of elements and components that serve as signal interfaces and drive actions for the leg massage unit 230. According to an embodiment, the board (leg drive board) can be implemented as separate boards (first and second leg drive boards) that respectively drive the first leg massage unit 230A and the second leg massage unit 230B. From a corresponding perspective, the control unit 270 of this invention can also be implemented as a hardware board (main board).

[0537] When the body massage unit 210 is brought into an upright position by the action of standing, the angle at which the body massage unit 210 tilts forward (hereinafter referred to as the "standing angle") can be set in various ways according to the physical specifications of the massage device 200 or its separate components or the user's choice. However, rather than causing the user's body to lean too far forward, it is preferably set to an angle that can fully assist the user in getting up or leaving the seat, such as 60 to 85 degrees relative to the ground.

[0538] Preferably, the speed, range (distance), etc., of the body massage unit 210 moving forward can be automatically set according to the physical specifications of the massage device 200, databaseable user information, measured user body information, etc., or can be variably set by the user through selection via an interface unit, etc. The rotation speed, rotation direction, rotation range (angle), movement speed, movement direction, movement distance, etc., of the leg massage units 230A and 203B are set in the same way.

[0539] Since the usable range of the body or the location / angle of pain may vary depending on the user's characteristics, symptoms, injury site, etc., the range of movement and rotation can be adjusted by the user's selection as described above, which can provide greater user-friendliness.

[0540] The user information includes various database-accessible information, such as the user's age, gender, medical conditions, injured areas, etc. Furthermore, the user's body information can be pre-databaseed information or information related to the user's body dimensions measured by a measuring unit installed in the massage device 200.

[0541] According to the implementation, multiple input buttons that can select a distance and / or angle range can be provided in a graphical user interface (GUI) environment through the input unit 1400 (based on the aforementioned embodiment). The movement distance and / or rotation angle range can also be variably set by the user selection. Furthermore, multiple selectable ranges can be guided by the audio output module 1500, and the range can be selected by voice recognition or other methods.

[0542] As described above, when the body massage unit 210 moves (rotates, tilts, etc.) to stand upright so that the body massage unit 210 is in an upright position, the leg massage unit 230, which is connected to the body massage unit 210 via a frame structure or the like, can also move (rotate, tilt, etc.) together.

[0543] Therefore, although the exact amount of massage may vary depending on the type of massage being performed, the current length of the leg massage unit 230, and its current angle, if there is insufficient space between the leg massage unit 230 and the ground, the leg massage unit 230 may collide with or interfere with the ground when the body massage unit 210 rotates during a standing motion (see reference). Figure 22 (△H).

[0544] Reference Figure 22 Reference numeral 1110 indicates the back frame of the aforementioned embodiment, corresponding to the backrest 210B of this embodiment, and reference numeral 1120 indicates the seat frame of the aforementioned embodiment, corresponding to the seat part 210A of this embodiment.

[0545] As described above, if the leg massage unit 230 collides with the ground, the massage device 200 may tip over or tilt backward, causing it to lose its stable posture. This could result in a safety accident for the user sitting on the massage device 200, or damage or breakage to the massage device 200 itself. Furthermore, if the user leaves their seat while the massage device 200 is tilted, various safety issues, such as falls, may occur.

[0546] To effectively address this issue, the control unit 270 of this invention controls the leg drive unit 240 to synchronize the position adjustment of the leg massage unit 230 with the standing motion of the body massage unit 210 (step S240B) when a standing motion occurs. Specific embodiments will be described later.

[0547] To more effectively facilitate user departure, such as Figure 23 As shown, the control unit 270 of this utility model can control the body drive unit 220 (specifically, the seat drive unit 220A, which is a component of the body drive unit 220) to make the seat unit 210A tilted in a downward direction toward the ground.

[0548] The angle of the seat section 210A based on the standing motion can be adjusted in various ways depending on the physical shape of the seat section, the frame that physically supports the seat section, and the connection structure with other components, but it is preferred to be set to tilt more towards the ground than the angle of the seat section when the massage device 200 is in the basic posture.

[0549] According to the embodiment, the control unit 270 of this utility model can perform a process (step S110) to confirm whether the angle, position, posture, etc. of one or more of the current massage device 200, leg massage unit 230 and body massage unit 210 are in the default posture.

[0550] If the current posture of the massage device 200, etc., is not the basic posture, the control unit 270 of this utility model can control the body drive unit 220, the leg drive unit 240, etc., so that the posture (position, angle, etc.) of the massage device 200, the body massage unit 210, and the leg massage unit 230 is switched to the reference posture (step S120).

[0551] In this way, when the baseline posture recovery action (step S120) is performed before the standing action (step S130), the action relationship of the massage device 200 can be more clearly defined, and the predictability and drive stability of the user can be further improved.

[0552] The control unit 270 of this invention can control the output of notification information (prompt, auditory effect sound, visual information, etc.) related to the completion of the standing action driven by the prescribed algorithm (step S140) after the standing action is completed, so as to improve user convenience by informing the user that the current state of the massage device 200 is a state where it can be left (step S150).

[0553] As mentioned above, when the sensor unit 1800 and the like confirm that the user has left the massage device 200 (step S160), the control unit 270 of this utility model can control the body drive unit 220 and the like to switch the posture of the massage device 200 from the standing posture to the basic posture (step S170).

[0554] Figure 17 This is a flowchart illustrating the processing procedure of one embodiment of the standing action of this utility model. The following refers to... Figure 17 The following describes the processing procedure of one embodiment of the present invention.

[0555] When the standing action begins, the control unit 270 of this utility model controls the body drive unit 220 to make the body massage unit 210 stand upright forward (step S310).

[0556] As mentioned above, in order to solve the problem of the leg massage unit 230 colliding with the ground, the control unit 270 of this utility model controls the leg drive unit 240 to adjust the position of the leg massage unit 230 in conjunction with the standing action (step S320).

[0557] Specifically, when a standing action occurs, the control unit 270 of this invention can control the leg drive unit 240 (specifically, the length adjustment unit 241, which is a component of the leg drive unit 240) to reduce the length of the leg massage unit 230 (step S321).

[0558] Independently or in parallel with it, the control unit 270 of this invention can control the leg drive unit 240 (specifically, the angle adjustment unit 243, which is a component of the leg drive unit 240) to make the leg massage unit 230 stand upright in the direction R1 (see reference) towards the body massage unit 210. Figure 23 The opposite direction of R2 (refer to) Figure 23 Rotate (step S323).

[0559] Steps S321 and S323 are both for preventing the leg massage unit 230 from colliding with the ground, so these steps do not need to have a temporal sequence such as one action being completed before another action is performed.

[0560] In addition, various combinations can be applied. For example, based on the detection of distance from the ground, the calculation of the rotation radius (distance) caused by standing motion, one of steps S321 or S323 can be executed first, and then another step can be executed after an appropriate time.

[0561] The control unit 270 of this invention can control the leg drive unit 240, etc., at the time when the standing action is completed, so that the lower part of the leg massage unit 230 is horizontal with the ground (step S330).

[0562] Through this embodiment of the present invention, when the user leaves the massage device 200, the foot part of the body can be supported more stably and firmly, thereby effectively preventing slips that may occur during the user's departure, and improving the convenience and safety of the user when stepping forward outward from the massage device 200.

[0563] As described in the above embodiment, the leg massage unit 230 may include: a fixed frame unit 2100, with a first rotation axis AX1 (refer to...). Figure 8 Based on the body massage part 210, the movable frame part 2300 moves relative to the fixed frame part 2100 and the leg massage body 2200 is combined with the movable frame part 2300.

[0564] In this case, the length adjustment part 241 of the present invention can be configured to adjust the length of the leg massage part 230 by raising and lowering the movable frame part 2300 with reference to the fixed frame part 2100.

[0565] The control unit 270 of this invention can control the length adjustment unit 241 when a standing action occurs, so that the frame unit 2300 can be moved in relation to the length adjustment or position adjustment of the leg massage unit 230, so that the fixed frame unit 2100 is raised as a relative fixed body (in the +Z axis direction in the figure).

[0566] In this case, in order to more stably guide the angle, posture, height, etc. of the legs, the control unit 270 of this utility model can control the length adjustment unit 241 when the standing action occurs, so that the upper end of the leg massage body 2200 is higher than the height of the first rotation axis AX1.

[0567] Figure 18 and Figure 19 This is a flowchart illustrating the processing procedure of other embodiments of the present invention. The embodiment shown in the figure is an embodiment in which the leg massage part 230 is kept in contact with the ground by using a detection sensor.

[0568] The control unit 270 of this invention can be configured to be communicatively connected to the detection sensor 250, and to perform processing such as receiving and parsing the detection signal output by the detection sensor 250. The detection sensor 250 in this embodiment corresponds to the contact sensor in the aforementioned embodiment.

[0569] The control unit 270 of this invention can use the detection signal input from the detection sensor 250 (step S400) to confirm the contact between the leg massage unit 230 and the ground (step S410).

[0570] If the leg massage unit 230 is not in contact with the ground (step S410), the control unit 270 of this utility model can control the leg drive unit 240, body drive unit 220, etc. according to the algorithm used to implement various processes including the aforementioned process (step S420).

[0571] If it is confirmed that the leg massage unit 230 is in contact with the ground (step S410), the control unit 270 of this utility model controls the leg drive unit 240 to keep the leg massage unit 230 in contact with the ground (step S440).

[0572] If it is confirmed that the time point at which the leg massage unit 230 contacts the ground is the time point at which the standing action is completed or a similar time point (step S430), it means that the forward uprighting (forward rotation) action of the body massage unit 210 no longer occurs. That is, at this time, under these circumstances, at the time point at which the standing action is completed, the leg massage unit 230 is in contact with the ground.

[0573] Therefore, the control unit 270 of this utility model can perform subsequent processing such as outputting notification information related to standing completion (step S450), user departure confirmation (step S460), and basic posture restoration (step S470) as described above.

[0574] In contrast, if it has been confirmed that the leg massage unit 230 is in contact with the ground (step S410), but the standing action has not yet been completed (step S430), it means that the forward standing (forward rotation) of the body massage unit 210 is still in progress, and the position of the leg massage unit 230 needs to be adjusted due to the forward rotation (movement) of the body massage unit 210.

[0575] Therefore, in this situation, when the leg massage unit 230 is in contact with the ground but the standing action has not yet been completed, as mentioned above, the control unit 270 of this utility model can control the length adjustment unit 241 and / or the angle adjustment unit 243 to reduce the length of the leg massage unit 230 and / or rotate the leg massage unit 230 in the opposite direction (step S440).

[0576] The processing of each of the above steps (steps S400, S410, S420, S430, and S440) can be configured to be applied cyclically, so that when the leg massage unit 230 is in contact with the ground during the standing motion of the body massage unit 210, the contact state can be maintained.

[0577] Figure 19 The embodiment shown is one example of a process that controls the leg massage unit 230 to contact the ground in association with a standing action.

[0578] As described above, when the standing action and / or the position adjustment action of the leg massage unit 230 linked to the standing action are activated (step S500), the control unit 270 of this utility model confirms whether the standing action is completed (step S510). The completion of the standing action can be determined based on whether the body massage unit 210 and the like have moved a predetermined angle or distance.

[0579] When the standing action is completed (step S510), the control unit 270 of this utility model can use the detection signal of the detection sensor 250 to confirm whether the leg massage unit 230 is in contact with the ground (step S520).

[0580] If the standing action has been completed but the leg massage unit 230 has not yet made contact with the ground, the control unit 270 of this utility model can control the leg drive unit 240 to increase the length of the leg massage unit 230 and / or rotate the leg massage unit 230 in the forward direction R1 (step S530).

[0581] The process of confirming that the leg massage unit 230 is in contact with the ground (step S520) and the process of adjusting the position of the leg massage unit 230 (step S530) can be repeated until the leg massage unit 230 finally contacts the ground.

[0582] If the leg massage unit 230 is finally confirmed to be in contact with the ground, the control unit 270 of this utility model can perform subsequent processing such as outputting notification information related to standing completion (step S540), confirming user departure (step S550), and switching basic posture (step S560).

[0583] According to the implementation method, the user can also input a stop signal (step S510) before the normal standing action is completed. In this case, the leg massage unit 230 may be in a state where it is not in contact with the ground. If the user leaves the massage device 200 in this state, safety accidents or other problems may occur.

[0584] Therefore, in this case, it is also preferable to apply the steps described above, such as confirming that the leg massage unit 230 is in contact with the ground (step S520) and driving it to increase the length of the leg massage unit 230 and / or rotating the leg massage unit 230 in the forward direction R1 (step S530).

[0585] Figure 20 The illustrated embodiment is one example of a process that controls the leg massage unit 230 to remain in contact with the ground in association with a standing action.

[0586] As described in the foregoing embodiments, the detection sensor 250 can be a sensor used to detect the pressure applied to the leg massage unit 230 by the ground or other surfaces. The function, configuration, structure, and installation of this detection sensor correspond to those described in the foregoing embodiments, and therefore will not be repeated here.

[0587] The control unit 270 of this invention can control the leg drive unit 240 so that the pressure detected by the detection sensor 250 is within the reference range from the time when the leg massage unit 230 contacts the ground to the time when the standing action is completed.

[0588] The reference range is information that characterizes the state of the leg massage unit 230 in contact with the ground. It can be generated based on raw data measured through field tests, etc., and can be set differently depending on the specifications of the massage device 200.

[0589] Specifically, the control unit 270 of this invention determines whether the magnitude of the detection signal S input from the detection sensor 250 (step S600) is within the reference range (step S610). It is assumed below that a larger detection signal indicates a larger detected pressure.

[0590] If the magnitude of the detection signal S is within the reference range and the standing action is completed (step S630), then as mentioned above, the control unit 270 of this utility model can perform subsequent processing such as outputting notification information related to the completion of standing (steps S450, S540), confirming the user's departure (steps S460, S550), and restoring the basic posture (steps S470, S560).

[0591] If the magnitude of the detection signal S is within the reference range (step S610), but the standing action has not yet been completed (step S630), then steps S600 and S610 can be applied cyclically.

[0592] If the magnitude of the detection signal S exceeds the reference range (step S610), specifically, if the magnitude of the detection signal S is less than the reference range (step S620), it means that the leg massage unit 230 is not in contact with the ground. Therefore, in this case, the control unit 270 of this invention can control the leg drive unit 240 to increase the length of the leg massage unit 230 and / or rotate the leg massage unit 230 in the forward direction R1 (step S640).

[0593] In contrast, if the magnitude of the detection signal S is greater than the reference range (step S620), it means that the leg massage unit 230 is applying relatively strong pressure to the ground, that is, there may be substantial interference or collision between the leg massage unit 230 and the ground.

[0594] Therefore, in this case, the control unit 270 of the present invention can control the leg drive unit 240 to reduce the length of the leg massage unit 230 and / or rotate the leg massage unit 230 in the opposite direction R2 (step S650).

[0595] The difference control of the leg massage unit 230 corresponding to the magnitude of the detection signal S input from the detection sensor 250, including whether the magnitude is within the reference range, can be applied cyclically. Therefore, through this process, the control unit 270 of this invention can effectively maintain the leg massage unit 230 in contact with the ground.

[0596] Figure 21 The embodiment shown is an example of a process in which the leg massage unit 230 is controlled to make contact with the ground at the time when the standing action begins.

[0597] When the standing action begins through various methods such as the end of an ongoing massage, user input of a selection signal, or fulfillment of preset conditions (step S700), as described above, the control unit 270 of this utility model may not immediately begin the standing action, but rather... Figure 21 As shown, first determine whether the leg massage part 230 is in contact with the ground (step S710).

[0598] As mentioned above, whether the leg massage unit 230 is in contact with the ground can be confirmed by using a method such as detecting the detection signal of the detection sensor 250.

[0599] If it is confirmed that the leg massage unit 230 is in contact with the ground (step S710), the control unit 270 of this utility model starts to drive the standing action (step S730), and as described above. Figure 20 As described above, the leg drive unit 240 can be controlled to keep the leg massage unit 230 in contact with the ground until the standing action is completed or ends (step S740).

[0600] In contrast, if the leg massage unit 230 is not in contact with the ground (step S710), the control unit 270 of this invention can control the leg drive unit 240 to increase the length of the leg massage unit 230 and / or rotate the leg massage unit 230 in the forward direction R1 (step S720).

[0601] The control unit 270 of this utility model controls the process to perform standing actions, etc., after the leg massage unit 230 contacts the ground (step S730).

[0602] The basic posture of the massage device 200 can be set according to different implementation methods, but such basic posture may not include the posture in which the leg massage part 230 is in contact with the ground.

[0603] Therefore, as referenced Figure 15 In the embodiment where the process of switching the posture of the massage device 200, etc., to a basic posture (step S140) is performed first, the following method may also be applied: Figure 21 The processing shown.

[0604] In the embodiment described with reference to the accompanying drawings, if the leg massage unit 230 is not detected to be in contact with the ground within a reference time, it may be due to interference or blockage from other objects outside the ground, or operational errors of the leg massage unit 230. Therefore, for ventilation around the user or to prevent safety accidents, the control unit 270 of this utility model can be configured to output notification information related to not touching the leg massage unit 230.

[0605] The present invention has been described above through limited embodiments and accompanying drawings, but it is not limited thereto. Those skilled in the art can make various modifications and variations within the equivalent scope of the technical concept of the present invention and the appended claims.

[0606] In the above description of this utility model, modifiers such as "first" and "second" are instrumental conceptual terms used to distinguish the constituent elements from each other, and should not be interpreted as terms indicating a specific order, priority, etc.

[0607] The accompanying drawings, etc., which are provided to illustrate the present invention and its embodiments, may be illustrated in a slightly exaggerated manner in order to emphasize or highlight the technical content of the present invention. However, it is obvious that those skilled in the art can make various modifications in light of the foregoing content and the matters shown in the drawings.

[0608] The control method of the massage device of this utility model can be implemented as computer-readable code on a computer-readable recording medium. Computer-readable recording media include all types of recording devices (CD-ROM, RAM, ROM, floppy disk, disk, hard disk, optical disk, etc.), which store data that can be read by a computer, and also include servers for wired or wireless internet transmission.

Claims

1. A massage device, in, include: The base frame allows it to contact the ground. A tilting frame, combined with a main frame capable of supporting a portion of the user's body, and capable of rotating relative to the base frame; and The tilting drive unit connects the base frame and the tilting frame, and transmits power to the tilting frame to make the tilting frame rotate relative to the base frame.

2. The massage device according to claim 1, wherein, Multiple tilting drive units are provided and are spaced apart from each other along the width direction of the tilting frame.

3. The massage device according to claim 1, wherein, The tilting drive unit includes: The tilting drive source generates driving force; and The tilting rod is connected to the tilting drive source and can be adjusted in length.

4. The massage device according to claim 3, wherein, The tilting drive unit adjusts its length using an actuator.

5. The massage device according to claim 1, wherein, The base frame includes: A base upper frame, wherein the tilting frame is rotatably connected to the base upper frame; and The lower frame of the base is combined with the upper frame of the base and is disposed between the upper frame of the base and the ground.

6. The massage device according to claim 5, wherein, It also includes a leg massage unit that massages the user's legs and is rotatably connected to the main frame; The front end of the lower frame of the base and the side of the leg massage unit are arranged facing each other.

7. The massage device according to claim 6, wherein, The lower frame of the base is provided with a base contact portion, such that at least one end of the front side end and the rear side end of the lower frame of the base is in contact with the ground.

8. The massage device according to claim 6, wherein, The leg massage area includes: The fixed frame is connected to the main frame in a manner that allows for relative rotation. The movable frame section incorporates a leg massage body into which a user's leg can be inserted, and is movable relative to the fixed frame section; and A length detection unit is provided in the fixed frame part and the movable frame part, and is used to measure the relative movement length between the movable frame part and the fixed frame part.

9. The massage device according to claim 8, wherein, The leg massager body includes: The calf massager body massages the user's calves; and The main body of the foot massager massages the user's feet.

10. The massage device according to claim 9, wherein, The movable frame unit includes: A first movable frame, combined with the calf massage body; and The second movable frame is combined with the foot massage body.

11. The massage device according to claim 8, wherein, The length detection unit includes: A sensor plate extends along its central axis in the length direction, and one side of the sensor plate is fixed to the fixed frame portion; and The sensor body moves on the sensor plate as the movable frame moves relative to the fixed frame.

12. The massage device according to claim 11, wherein, The sensor body is illuminated by light. The sensor board is positioned on the path of the light and has a through hole through which the light can pass.

13. The massage device according to claim 11, wherein, A fastening hole is formed on one side of the fixed frame portion where the sensor plate is fixed. The fastening hole allows a fastening member to pass through and be fastened to the fixed frame portion.

14. The massage device according to claim 8, wherein, The leg massage area also includes: The contact roller section is equipped with a contact roller and a contact sensor. The contact roller is rotatably connected to the movable frame section, and the contact sensor is capable of detecting contact with the ground.

15. The massage device according to claim 8, wherein, The leg massage unit is provided in multiple parts, and each leg massage unit can operate independently.

16. A massage device comprising a leg massage section into which a user's leg can insert, wherein, The leg massage area includes: Fixed frame section; The movable frame section incorporates a leg massager insertable to the user's legs and is movable relative to the fixed frame section; and A length drive unit is disposed between the fixed frame part and the movable frame part, and generates rotational power to cause the movable frame part to move linearly relative to the fixed frame part.

17. The massage device according to claim 16, wherein, The length driving unit includes: The length drive unit receives power and generates rotational power; The guide section is combined with the fixed frame section; and The transmission unit, which is connected to the moving frame unit, receives power from the length drive source unit to move linearly on the guide unit.

18. The massage device according to claim 17, wherein, The transmission unit includes: A transmission housing, fixed to and coupled to the movable frame portion; and The transmission body, housed in the transmission housing, receives power from the length drive source to move on the guide section.

19. The massage device according to claim 18, wherein, The transmission body includes: The moving unit moves on the guide section; and A pulley unit connects the length drive source and the moving unit.

20. The massage device according to claim 19, wherein, The moving unit is connected to the lead section by a threaded connection.

21. The massage device according to claim 18, wherein, The guide section extends through the transmission housing and provides a movement path for the transmission housing.

22. The massage device according to claim 18, wherein, The leg massage area also includes: A length detection unit is provided in the fixed frame part and the movable frame part, and is used to measure the relative movement length between the movable frame part and the fixed frame part.

23. The massage device according to claim 22, wherein, The length detection unit includes: A sensor plate extends along its central axis in the length direction, and one side of the sensor plate is fixed to the fixed frame portion; and The sensor body moves on the sensor plate as the movable frame moves relative to the fixed frame.

24. The massage device according to claim 23, wherein, The sensor body is integrated with the transmission housing and can move together with the transmission housing.

25. The massage device according to claim 24, wherein, The sensor body is illuminated by light. The sensor board is positioned on the path of the light and has a through hole through which the light can pass.

26. The massage device according to claim 17, wherein, The guide section includes: The guide base is combined with the fixed frame part; and A lead shaft is connected to the lead base and extends along the length direction.

27. The massage device according to claim 26, wherein, The guide base includes: The guide bracket causes the guide axis to protrude forward.

28. The massage device according to claim 26, wherein, The length of the guide shaft, which extends along a predetermined direction, is relatively shorter than the length of the fixed frame portion.

29. The massage device according to claim 16, wherein, The leg massager body includes: The calf massager body massages the user's calves; and The main body of the foot massager massages the user's feet.

30. The massage device according to claim 16, wherein, The leg massage unit is provided in multiple parts, and each leg massage unit can operate independently.

31. A massage device, wherein, include: The tilting drive unit transmits power to the tilting frame, which is combined with the main frame that can support part of the user's body, so that the tilting frame rotates relative to the base frame that can contact the ground. The length drive unit is capable of adjusting the length of the leg massage unit connected to the main frame; and The control unit simultaneously or sequentially controls the driving of the tilting drive unit and the length drive unit.

32. The massage device according to claim 31, wherein, The leg massage area includes: Fixed frame section; and The hinge drive unit is connected to the main frame and transmits power to the fixed frame unit to adjust the relative rotation angle of the fixed frame unit relative to the main frame.

33. The massage device according to claim 32, wherein, The control unit controls the length drive unit to drive, and simultaneously or sequentially controls the hinge drive unit to drive.

34. The massage device according to claim 32, wherein, The hinge drive unit includes: The hinge drives the power source, generating power; and The hinge connection is rotatably connected to the main frame and receives power from the hinge drive source to make contact with the leg massage part.

35. The massage device according to claim 34, wherein, The hinge connection includes: A hinged connection body is rotatably connected to the main frame; and The hinge-connecting roller is connected to one end of the hinge-connecting body and can contact the fixed frame portion.

36. The massage device according to claim 34, wherein, The hinge drive unit includes a drive rod capable of length adjustment.

37. The massage device according to claim 31, wherein, The leg massage area includes: The contact roller is equipped with a contact sensor that can detect contact with the ground.

38. The massage device according to claim 37, wherein, The contact roller portion further includes: The contact roller can rotate around a preset axis and make contact with the ground.

39. The massage device according to claim 38, wherein, The contact rollers are provided in multiple ways, and the multiple contact rollers are respectively arranged on both sides of the leg massage part.

40. The massage device according to claim 38, wherein, The contact sensor is disposed on the contact roller and measures the pressure applied to the contact roller from the ground.

41. The massage device according to claim 31, wherein, The leg massage area includes: Fixed frame section, and The movable frame section is combined with a leg massage body that can be inserted into the user's legs, and is movable relative to the fixed frame section. The length drive unit transmits power to the moving frame unit, causing the moving frame unit to move relative to the fixed frame unit.

42. The massage device according to claim 41, wherein, The leg massage area also includes: A length detection unit is provided in the fixed frame part and the movable frame part, and is used to measure the relative movement length between the movable frame part and the fixed frame part.

43. The massage device according to claim 41, wherein, The leg massage area also includes: The leg massager body is integrated with the movable frame and can be inserted into the user's leg.

44. The massage device according to claim 43, wherein, The leg massager body includes: The calf massager body massages the user's calves; and The main body of the foot massager massages the user's feet.

45. The massage device according to claim 31, wherein, The leg massage unit is provided in multiple parts, and each leg massage unit can operate independently.

46. ​​A massage device, in, include: A body massage area that massages at least a part of the user's body; A leg massage section is located at the lower part of the body massage section; The body drive unit changes the position or posture of the body massage unit; The leg drive unit adjusts the position of the leg massage unit; and The control unit controls the body drive unit and the leg drive unit to link the forward upright standing motion of the body massage unit with the position adjustment of the leg massage unit.

47. The massage device according to claim 46, wherein, The body massage unit includes a seat and a backrest. When the standing action occurs, the control unit controls the body drive unit to make the seat unit tilt downward toward the ground.

48. The massage device according to claim 46, wherein, The leg drive unit includes a length adjustment unit for adjusting the length of the leg massage unit; When the standing action occurs, the control unit controls the length adjustment unit to reduce the length of the leg massage unit.

49. The massage device according to claim 46, wherein, The leg drive unit includes an angle adjustment unit for adjusting the angle of the leg massage unit; When the standing action occurs, the control unit controls the angle adjustment unit to rotate the leg massage unit in the opposite direction to the upright direction of the body massage unit.

50. The massage device according to claim 49, wherein, The leg drive unit also includes a length adjustment unit for adjusting the length of the leg massage unit; When the standing action occurs, the control unit controls the length adjustment unit and the angle adjustment unit to reduce the length of the leg massage unit and rotate the leg massage unit in the opposite direction.

51. The massage device according to claim 49, wherein, When the standing action occurs, the control unit controls the angle adjustment unit to make the lower part of the leg massage unit horizontal with the ground.

52. The massage device according to claim 48, wherein, The leg massage area includes: The fixed frame is rotatably coupled to the body massage unit, with the first rotation axis as a reference. The movable frame portion moves relative to the fixed frame portion, and The leg massage main body is combined with the movable frame part; The length adjustment unit adjusts the length of the leg massage unit by raising and lowering the movable frame unit relative to the fixed frame unit. When the standing action occurs, the control unit controls the length adjustment unit to raise the movable frame unit.

53. The massage device according to claim 52, wherein, When the standing action occurs, the control unit controls the length adjustment unit to make the upper end of the leg massage body higher than the height of the first rotation axis.

54. The massage device according to claim 46, wherein, It also includes a detection sensor for detecting the contact between the leg massage unit and the ground; The control unit uses the detection signal from the detection sensor to control the leg drive unit to keep the leg massage unit in contact with the ground.

55. The massage device according to claim 48, wherein, It also includes a detection sensor for detecting the contact between the leg massage unit and the ground; The control unit uses the detection signal from the detection sensor to control the length adjustment unit to keep the leg massage unit in contact with the ground.

56. The massage device according to claim 49, wherein, Also includes: A detection sensor detects that the leg massage unit is in contact with the ground; The control unit uses the detection signal from the detection sensor to control the angle adjustment unit to keep the leg massage unit in contact with the ground.

57. The massage device according to claim 46, wherein, It also includes a detection sensor for detecting the contact between the leg massage unit and the ground; At the moment when the standing action is completed, if the leg massage unit is not in contact with the ground, the control unit controls the leg drive unit to make the leg massage unit in contact with the ground.

58. The massage device according to claim 46, wherein, It also includes a detection sensor that detects the pressure applied by the ground to the leg massage area; From the point in time when the leg massage unit contacts the ground to the point in time when the standing action is completed, the control unit controls the leg drive unit to ensure that the pressure detected by the detection sensor is within the reference value range.

59. The massage device according to claim 46, wherein, The leg massage area includes: The first leg massage section massages one side of the user's leg; and The second leg massager massages the user's other leg and moves relative to the first leg massager.

60. The massage device according to claim 46, wherein, It also includes a detection sensor for detecting the contact between the leg massage unit and the ground; At the start of the standing motion, when the leg massage unit is not in contact with the ground, the control unit controls the leg drive unit to bring the leg massage unit into contact with the ground.

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