Massage device

Abstract

According to an embodiment of the present application, a massage device can be provided. The massage device can include: a base frame in contact with the ground; a body frame; a tilt driving portion to rotate the body frame relative to the base frame; and a damping member having one end connected to the body frame side and the other end connected to the base frame side.

Description

Technical Field

[0001] This utility model relates to a massage device, specifically, to a massage device that allows a user to perform standing actions in a way that allows them to sit comfortably. Background Technology

[0002] Conventional massage devices take into account the user's sitting and standing movements, and have a structure that tilts only in a fixed position or at a limited angle. For example, to provide a certain degree of stability and a comfortable sitting experience, massage devices are designed to keep the seat and backrest fixed or to be adjustable only within a limited range of angles.

[0003] For example, Korean Patent No. 2826537 discloses a massage device with an adjustable backrest angle. In this prior art, the user needs to shift their center of gravity significantly in order to approach and sit down on the massage device, which may cause inconvenience or the risk of falling, especially for the elderly or users with mobility impairments.

[0004] The above information is provided as background information to aid in understanding the content of this utility model. It should be noted that this specification makes no claim or judgment regarding whether any part of the above information constitutes prior art to this utility model. Utility Model Content

[0005] As mentioned above, most existing massage devices are designed without adequately considering the user's convenience when sitting or getting up. Users must tilt their bodies or bend their upper bodies excessively to sit down. This is especially difficult for users with weak leg muscles or wheelchair users, who often require assistance from helpers.

[0006] In addition, although some massage devices offer electric or automatic tilting functions, these mechanisms require complex power units and control units, resulting in increased manufacturing costs and difficult maintenance.

[0007] Therefore, the present invention improves upon the problems of the prior art by providing a structure in which the seat of the massage device can stand forward before or in conjunction with the user's sitting action, thus enabling the user to sit more stably and conveniently.

[0008] The technical problem to be solved by this utility model is not limited to the technical problems mentioned above. Those skilled in the art can clearly understand other technical problems not mentioned from the following description.

[0009] According to the present invention, a massage device is provided, comprising: a base frame in contact with the ground; a body frame supported by the base frame; a tilting drive unit for rotating the body frame relative to the base frame; and a damping member having one end connected to the side of the body frame and the other end connected to the side of the base frame.

[0010] The body frame includes: a seat frame capable of supporting a portion of the user's body, and a tilting frame connecting the base frame and the seat frame, configured to tilt; the tilting frame includes: a first vertical frame coupled to one side of the body frame, a second vertical frame coupled to the other side of the body frame, and a horizontal frame connecting the first vertical frame and the second vertical frame; one end of the tilting drive unit is connected to the horizontal frame and the other end is connected to the base frame.

[0011] The tilting drive unit is connected to the horizontal frame in the middle region between the first vertical frame and the second vertical frame.

[0012] The damping components include: a first damping component connected to the first vertical frame, and a second damping component connected to the second vertical frame.

[0013] The first damping member and the second damping member are symmetrically arranged relative to each other with respect to the center of the horizontal frame.

[0014] The damping component includes a gas spring.

[0015] One end of the damping member is connected to the first vertical frame, and the other end of the damping member is connected to the connecting rod frame.

[0016] The base frame includes: an upper base frame supporting the body frame, and a lower base frame supporting the upper base frame and in contact with the ground; one end of the linkage frame is connected to the upper base frame and the other end is connected to a guide portion formed in the lower base frame.

[0017] One end of the linkage frame is connected in a manner that allows it to rotate relative to the upper base frame, while the other end is configured to slide linearly within a guide portion formed in the lower base frame, based on the upright movement of the massage device.

[0018] The guide portion includes a guide rail extending in a direction parallel to the length direction of the lower base frame.

[0019] The tilt drive unit includes: a tilt actuator that generates driving force; and a tilt rod that is connected to the tilt actuator and can adjust its length.

[0020] The body frame is configured to adjust the standing angle based on the standing motion of the massage device, with reference to the upright hinge portion formed on the base frame.

[0021] The massage device also includes a leg massage section connected to the body frame and used to massage the user's legs, the leg massage section being configured to adjust its length based on the upright movement of the massage device.

[0022] The leg massage unit is provided with a contact roller that can contact the ground, and the contact roller is provided with a sensor unit for sensing whether the leg massage unit is in contact with the ground.

[0023] The massage device includes a control unit for controlling the angle of the tilting frame and the leg massage unit, the control unit being configured to adjust the length of the leg massage unit based on information measured by the sensor unit.

[0024] According to this invention, the tilting drive unit causes the body frame to rotate relative to the frame, thereby enabling a stable standing motion when the user sits before using the massage device or stands after using the massage device.

[0025] The effects that can be obtained by this utility model are not limited to those mentioned above. Those skilled in the art can clearly understand other effects not mentioned from the following description. Attached Figure Description

[0026] Figure 1 This is a diagram illustrating a massage device according to an embodiment of the present invention.

[0027] Figure 2 This is a diagram illustrating the main frame of one embodiment of the present invention.

[0028] Figure 3 This is a diagram illustrating the specific structure of a massage device according to an embodiment of the present invention.

[0029] Figure 4 This is a diagram illustrating an external device capable of communicating with a massage device according to an embodiment of the present invention.

[0030] Figure 5 This is a perspective view of a massage device including a tilting drive unit, according to an embodiment of the present invention.

[0031] Figure 6 This is an example of an embodiment of the present invention viewed from above. Figure 5 A diagram of a massage device.

[0032] Figure 7 This is a side view of a massage device according to an embodiment of the present invention.

[0033] Figure 8 This is a diagram showing a damping member in a compressed state according to an embodiment of the present invention.

[0034] Figure 9 This is a diagram showing a damping member in a stretched state according to an embodiment of the present invention.

[0035] Figure 10 This is a perspective view showing a leg massage part according to an embodiment of the present invention.

[0036] Figure 11 This is a side view of a massage device before performing a standing action, according to an embodiment of the present invention.

[0037] Figure 12 This is a side view of a massage device for performing standing actions according to an embodiment of the present invention.

[0038] Figure 13 This is a side view of a massage device before performing a standing action, according to an embodiment of the present invention.

[0039] Figure 14 This is a side view of a massage device for performing standing actions according to an embodiment of the present invention.

[0040] Figure 15 This is a perspective view of a massage device before performing a standing action, according to an embodiment of the present invention.

[0041] Explanation of reference numerals in the attached figures

[0042] 100, 500: Massage device

[0043] 200: Massage device control equipment

[0044] 560: Leg angle adjustment actuator

[0045] 570: Leg angle adjustment linkage

[0046] 600: Tilting drive unit

[0047] 601: Tilting Actuator

[0048] 602: Inclined rod guide

[0049] 603: Inclined bar

[0050] 610: Damping component (first damping component)

[0051] 620: Linkage Frame

[0052] 630: Guidance Department Detailed Implementation

[0053] The advantages, features, and methods of implementing the disclosed embodiments will become clear upon reference to the accompanying drawings and the following embodiments. However, the present invention is not limited to the embodiments disclosed below and can be implemented in various different forms. The purpose of providing these embodiments is solely to complete the present invention and to fully inform those skilled in the art of its scope.

[0054] The terminology used in this specification is briefly described, and the disclosed embodiments are described in detail.

[0055] The terminology used in this specification has been selected as widely used and common terms as possible, taking into account the functionality of this utility model. However, these terms may be changed based on the intent of those skilled in the art, precedents, or the emergence of new technologies. Furthermore, in certain cases, the applicant has arbitrarily selected some terms; in such cases, the meanings of the selected terms will be described in detail in the description section of this utility model. Therefore, the terminology used in this utility model should be defined based on its meaning and the overall content of this utility model, and not merely on the name of the term.

[0056] Unless explicitly stated otherwise, the singular form in this specification includes the plural form. Conversely, unless explicitly stated otherwise, the plural form also includes the singular form.

[0057] Throughout the specification, unless otherwise stated, when a section “includes” a component, it means that other components may also be included, not that other components are excluded.

[0058] Furthermore, the term "part" used in this specification refers to a software or hardware component, and a "part" performs certain functions. However, a "part" is not limited to software or hardware. A "part" can be configured to exist in addressable storage media or to reproduce one or more processors. Thus, as an example, a "part" includes: components such as software components, object-oriented software components, class components, and task components; procedures; functions; properties; programs; subroutines; program code segments; drivers; firmware; microcode; circuits; data; databases; data structures; tables; arrays; and variables. The functionality provided by components and "parts" can be provided by combining them into fewer components and "parts," or by further separating them into more components and "parts."

[0059] According to one embodiment of this utility model, the "part" can be implemented with a processor and a memory. The term "processor" should be broadly interpreted to include general-purpose processors, central processing units (CPUs), microprocessors, digital signal processors (DSPs), controllers, microcontrollers, state machines, etc. In some cases, "processor" can refer to application-specific integrated circuits (ASICs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), etc. The term "processor" can refer to a combination of processing devices, such as a combination of a DSP (digital signal processor) and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors combined with a DSP core, or any other combination of such configurations.

[0060] The term "memory" should be broadly interpreted to include any electronic component capable of storing electronic information. The term memory can refer to various types of processor-readable media, such as random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic or optical data storage devices, registers, etc. If the processor can read information from memory and / or record information in memory, then the memory can be said to be in a state of electronic communication with the processor. Memory integrated into the processor is in a state of electronic communication with the processor.

[0061] In this specification, an actuator refers to a structure capable of providing driving force. For example, an actuator may include, but is not limited to, 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.

[0062] In this specification, according to one embodiment, a massage device may refer to a massage device that includes a massage portion that massages a part of the body of a user U. In this case, the massage portion may include at least one of a body massage portion, an arm massage portion, and a leg massage portion. Alternatively, according to another embodiment, the body massage portion, arm massage portion, and leg massage portion may exist as separate, independent devices (e.g., a body massage device, an arm massage device, and a leg massage device), and the massage device may refer to at least one of these three massage devices.

[0063] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement the present invention. Furthermore, in the drawings, parts unrelated to the description may be omitted for clarity.

[0064] Figure 1 This is a diagram illustrating a massage device according to an embodiment of the present invention.

[0065] According to an embodiment of the present invention, a massage device 100 may include a massage section forming an area for accommodating at least a portion of a user's body, supporting the user's body (e.g., torso), and massaging a portion of the user's body.

[0066] The massage unit may include at least one of the following massage units: a body massage unit 101 for massaging the user's torso; an arm massage unit 102 for massaging the user's arms; and a leg massage unit 103 for massaging the user's legs.

[0067] The body massage unit 101 can massage at least a portion of at least one of the user's upper body and lower body. Specifically, the body massage unit 101 may include: a frame unit 110, which forms the frame of the body massage unit 101 and supports the user's body; a user input unit 140, for receiving input of any form from the user; and an audio output module 150, for providing audio output of any form to the user. Additionally, as described later, the body massage unit 101 may include: a massage module (e.g., Figure 3 (170), providing massage function to at least a part of the user's body; and a sensor unit (e.g., Figure 3 (180) to sense the position of the user's body to prevent the user's body from getting stuck. The structure included in the above-described body massage unit 101 is only an exemplary embodiment. In addition to the aforementioned structure, the body massage unit 101 may also include various other structures.

[0068] In addition, such as Figure 1The shape and structure of the massage device 100 shown are merely examples. Various forms of massage devices 100 should also fall within the scope of this utility model without departing from the scope defined by the claims.

[0069] The body massage unit 101 can be formed into a space of any shape to accommodate the user. The body massage unit 101 can be configured with a space that corresponds to the shape of the user's body. For example, as... Figure 1 As shown, the body massage unit 101 can be implemented in a seated form capable of accommodating the entire body or part of the user's body to support at least a portion of the user's body. For example, the body massage unit 101 may include: a backrest part for supporting at least a portion of the user's upper body; and a seat part for supporting at least a portion of the user's lower body.

[0070] The part of the body massage unit 101 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.

[0071] At least a portion of the body massage unit 101 is slidable. For example, when the body massage unit 101 begins to massage (or when the body massage unit 101 is actuated), the body massage unit 101 can move in a manner that slides forward while tilting backward. As a result, the body massage unit 101 can provide massage in a backward tilted state. In this invention, "forward" can refer to the direction facing the user sitting on the massage device, and "rear" can refer to the direction facing the back of the user sitting on the massage device. For example, the massage device 100 may include an actuator that causes the massage device 100 (or body massage unit 101) to tilt backward. The massage device 100 can tilt or return the body massage unit 101 to its original state by actuating the aforementioned actuator. At this time, the actuator may be provided in the seat portion of the massage device (e.g., as shown in the image). Figure 2 (The base frame 112 of the frame portion 110, which will be described later).

[0072] The massage device 100 may include at least one airbag (not shown). The airbag may be located in at least a portion of the body massage section 101 (e.g., at least one of the following areas within the entire body massage section 101: the area corresponding to the user's back, the area corresponding to the user's shoulders, the area corresponding to the waist, the area corresponding to the buttocks, the area corresponding to the thighs, the area corresponding to the pelvis, or the area corresponding to the perineum), at least a portion of the arm massage section 102, or at least a portion of the leg massage section 103, but is not limited thereto, and may be disposed in multiple portions of the massage device 100. According to one embodiment, the airbag may also be referred to as an "air bag".

[0073] The massage device 100 may include an air supply unit that supplies air to an airbag to inflate it. The air supply unit may be located inside the body massage unit 101 or in the leg massage unit 103. The air supply unit may also be located in the arm massage unit 102. Alternatively, the air supply unit may be located outside the massage device 100.

[0074] The frame portion 110 forms the framework of the internal structure of the body massage portion 101. The overall shape of the massage device 100 is defined by the frame portion 110, therefore the frame portion 110 can be referred to as the "main frame". The frame portion 110 can be made of metal or plastic materials, etc. For example, the frame portion 110 can be made of iron, alloy, steel, etc., but is not limited to these, and can also be made of various sturdy materials.

[0075] The massage device 100 may include a massage module (e.g.: Figure 3 and Figure 5 The massage module 170).

[0076] The massage module can be disposed inside the body massage unit 101 to provide any form of mechanical stimulation to the user accommodated in the body massage unit 101. The massage module may include at least one actuator.

[0077] like Figure 1 As shown, the massage module can move along the frame portion 110 disposed inside the body massage unit 101. In other words, the massage module can move along the frame portion 110 and massage (or provide massage to at least a part of the user's body) a portion of the user's body. According to one embodiment, the massage module may be referred to as a "body massage module".

[0078] The frame 110 of the body massage unit 101 may include a rack gear, along which the massage module provides mechanical stimulation to various parts of the user's body as it moves. For example, the massage module may massage the user's back and shoulders, waist, hips, thighs, and pelvis by patting or kneading at least one of these body parts. The massage module may include, but is not limited to, at least one of a ball massage unit and a roller massage unit.

[0079] The arm massage unit 102 can be disposed on at least one side of the body massage unit 101, on one side and the other side. For example, the arm massage unit 102 may include at least one of the following arm massage units: a first arm massage unit disposed on one side of the body massage unit 101 for massaging one side of the user's arm; and a second arm massage unit disposed on the other side of the body massage unit 101 for massaging the other side of the user's arm. For example, the first arm massage unit and the second arm massage unit may be based on the control unit of the massage device 100 (e.g., [missing information]). Figure 3 The control of (120) allows for actions in at least one of the following ways: independent action, relative action, linkage action, or quasi-linkage action. Here, "quasi-linkage action" can refer to at least one part of a constituent element acting independently or relatively relative to another constituent element, while another part of the constituent element acts in linkage with another constituent element.

[0080] The arm massage unit 102 can provide an arm placement unit 1021. The arm placement unit 1021 can accommodate the user's arm.

[0081] The arm massage unit 102 may include multiple airbags. According to one embodiment, when the user places their arm in the arm placement part 1021, the user's arm position is stably fixed by the inflation of the airbags, and the arm massage unit 102 can provide arm massage by applying pressure to the arm.

[0082] The arm massage unit 102 may also be provided with a massage module, which includes at least one massage unit selected from ball massage units and roller massage units. According to one embodiment, when the user places their arm on the arm placement unit 1021, the massage module is additionally or alternatively driven in response to the inflation of the airbag, thereby providing arm massage.

[0083] The leg massage unit 103 may be disposed at the lower part of the body massage unit 101 and / or at the lower front part of the massage device 100. The leg massage unit 103 may include at least one of the following arm massage units: a first leg massage unit disposed on one side of the body massage unit 101 for massaging one leg of the user; and a second leg massage unit disposed on the other side of the leg massage unit 103 for massaging the other leg of the user.

[0084] The leg massage unit 103 includes a receiving space for accommodating a user's legs and can provide leg massage to the user by massaging at least a portion of the user's legs. For example, the leg massage unit 103 may include a calf massage unit for massaging the user's lower legs and / or a foot massage unit for massaging the user's feet.

[0085] The leg massage section 103 can be adjusted in length according to the user's body characteristics. For example, when a tall user uses the massage device 100, the length of the leg massage section 103 needs to be increased because the user's calves are longer. Conversely, when a short user uses the massage device 100, the length of the leg massage section 103 needs to be shortened because the user's calves are shorter. Therefore, the leg massage section 103 can provide a leg massage that is tailored to the user's height.

[0086] The leg massage unit 103 can provide a leg rest 1031. The leg rest 1031 can accommodate the user's legs.

[0087] The leg massage unit 103 may include multiple airbags. According to one embodiment, when a user places their leg on the leg rest 1031, the inflation of the airbags stably fixes the user's leg position. At this time, the leg massage unit 103 can provide leg massage by applying pressure to the leg.

[0088] The leg massage unit 103 may be equipped with a leg massage module, which includes at least one massage unit selected from ball massage units and roller massage units. According to one embodiment, when the user places their legs on the leg rest 1031, the leg massage module is additionally or alternatively driven by the inflation of the airbag, thereby providing leg massage.

[0089] The seat area 104 of the massage device 100 may include: an upper body support for supporting the user's upper body; and a lower body support for supporting the user's lower body. 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.

[0090] The user input unit 140 can receive commands related to the operation and control of the massage device 100 from the user. The user input unit 140 can be implemented in various forms. For example, the user input unit 140 can be provided in the body massage unit 101, the arm massage unit 102, and the leg massage unit 103, but is not limited to these. As an input unit for controlling the operation of the massage device 100, in addition to the user input unit 140, a massage device control device 200 may be provided additionally or alternatively to the user input unit 140.

[0091] The massage device 100 can receive various commands from the user via the user input unit 140. For example, the massage device 100 can receive any commands, but is not limited to, regarding the selection of massage module, massage mode, massage intensity, massage time, massage area, position and movement of the body massage unit 101, on / off power supply of the massage device 100, whether to activate the heating function, and audio playback.

[0092] The massage device 100 may include an audio output module 150. The audio output module 150 may be located in various positions. For example, the audio output module 150 may include multiple output units, such as an upper audio output unit located at the upper end of the seat area 104 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 left / right arm massage section 102 of the seat area 104, and / or a rear audio output unit attached to the rear end of the arm massage section 102, etc., but not limited to these.

[0093] In this case, the audio output module 150 can provide stereo sound such as 5.1 channels, but is not limited to this.

[0094] According to one embodiment of the present invention, a user can use a massage device control device 200 to control a massage device 100. The massage device control device 200 can be connected to the massage device 100 via wired and / or wireless communication.

[0095] The massage device control device 200 can list various modes of medical massage related to body improvement. For example, the medical massage modes included in the list may include at least one of the following: concentration mode, meditation mode, recovery mode, stretching mode, sleep mode, vitality mode, golf mode, hip shaping mode, exam mode, weightlessness mode, and growth mode.

[0096] The massage device control device 200 may include, but is not limited to, at least one of the following user devices: a remote controller, a cellular phone, a personal digital assistant (PDA), etc., and may include various electronic devices that can be connected to the massage device 100 via wired or wireless communication.

[0097] Figure 2 This is a diagram illustrating a massage device according to an embodiment of the present invention.

[0098] The frame portion 110 may be used to form a massage device (e.g., Figure 1The structure of the skeleton of the massage device 100. For example, the frame part 110 may be the structure that forms the skeleton of the body massage part 101.

[0099] The frame portion 110 may include a body frame 111 and a base frame 112 supporting the body frame 111. The body frame 111 is disposed on the base frame 112 and supports the user's upper body, and can therefore be referred to as the "upper frame". The body frame 111 may be provided with a massage module (e.g.: Figure 3 (170).

[0100] At least a portion of the body frame 111 may be provided with a rack 111a. The rack 111a may be used to guide the movement of the massage device 100 (e.g., towards the upper side of the massage device 100 (e.g., as described later)). Figure 5 (in the Z-axis direction) and the lower side (e.g., as described later). Figure 5 A component that moves in at least one direction (opposite to the Z-axis). The rack 111a may include a plurality of valleys and a plurality of ridges.

[0101] According to one embodiment, racks 111a can be arranged facing each other on both sides of the body frame 111. Additionally, a massage module (e.g.: Figure 3 170) can be set to move along rack 111a.

[0102] exist Figure 2 In the massage device 100, the rack 111a is formed in a shape that extends relatively long along the upper and lower sides, but is not limited thereto. The rack 111a may include racks in the front-to-back direction and racks in the up-down direction.

[0103] Massage module (e.g.: Figure 3 170) may include a gear meshing with rack 111a. More specifically, the massage module may include gears meshing with racks in the forward and backward directions and racks in the up and down directions, respectively. The gears are rotated by an actuator disposed on the massage module, thereby enabling the massage module to move forward, backward, up, or down.

[0104] As the massage module moves forward, the massage intensity can increase. Conversely, as the massage module moves backward, the massage intensity can decrease. Here, "moving forward" can mean the massage module moves toward the user, and "moving backward" can mean the massage module returns to its original position before moving toward the user.

[0105] The rack 111a can be made of metal or plastic. For example, the rack 111a can be made of iron, steel, alloy, reinforced plastic, melamine resin, phenolic resin, etc., but is not limited to these.

[0106] In this utility model, a rack 111a is disclosed as a component for guiding the movement of the massage module 100. According to an embodiment, the massage device 100 may include a track structure additionally or alternatively provided for the rack 111a.

[0107] The body frame 111 can be implemented in a variety of shapes. For example, depending on the shape, the body frame 111 can be divided into S-frame, L-frame, S&L-frame, double S&L-frame, but is not limited to these.

[0108] An S-frame refers to a frame in which at least a portion of the body frame 1111 has an S-shaped bend. An L-frame refers to a frame in which at least a portion of the body frame 1111 includes an L-shaped bend. An S&L frame refers to a frame that includes both an S-shaped bend and an L-shaped bend. A double S&L frame refers to a frame that includes an L-shaped bend and two S-shaped bends.

[0109] The base frame 112 refers to the part of the frame portion 110 that supports the body frame 111 and is in contact with the ground. The base frame 112 may include an upper base frame 112a and a lower base frame 112b.

[0110] The upper base frame 112a can support the body frame 111, and the lower base frame 112b can be connected to the ground. In addition, the upper base frame 112a can be set in a manner that connects to the lower base frame 112b.

[0111] According to one embodiment of the present invention, the upper base frame 112a is movable along the lower base frame 112b. For example, the upper base frame 112a is movable forward or backward along the lower base frame 112b. In this case, the body frame 111 is connected to the upper base frame 112a, thereby being able to move with the movement of the upper base frame 112a.

[0112] For example, when the upper base frame 112a moves forward, the upper frame 111 can also move forward together; when the upper base frame 112a moves backward, the upper frame 111 can also move backward together. This allows the body massage section (e.g., Figure 1 The sliding movement of 101).

[0113] Specifically, to allow movement of the upper base frame 112a, a moving wheel can be provided at the lower part of the upper base frame 112a. Additionally, a guide member capable of guiding the moving wheel can be provided at the upper part of the lower base frame 112b. The moving wheel provided in the upper base frame 112a moves along the guide member provided in the lower base frame 112b, thereby allowing the upper base frame 112a to move forward or backward.

[0114] According to another embodiment of the present invention, the massage device 100 may not provide a sliding function. In this case, the base frame 112 may not be divided into an upper frame and a lower frame.

[0115] Figure 3 This is a diagram illustrating the specific structure of a massage device according to an embodiment of the present invention.

[0116] According to one embodiment of the present invention, the massage device 100 may include a body massage unit 101, an arm massage unit 102, a leg massage unit 103, a frame unit 110, a control unit 120, a storage unit 130, a user input unit 140, an audio output module 150, a network connection unit 160, a massage module 170, and a sensor unit 180. In the massage device 100, at least one of these components (e.g., the sensor unit 180) may be omitted, or one or more other components (e.g., an interface unit) may be added. In one embodiment, a portion of these components (e.g., the control unit 120, the user input unit 140, and / or the control unit 120 and the network connection unit 160) may be combined into a single component (e.g., the control unit 120).

[0117] The specific structure of the massage device 100 of one embodiment of the present invention, not described below, may be related to the following... Figure 1 and Figure 2 The massage device 100 described has the same or similar specific structure. Figure 3 In the following embodiments, unless otherwise stated, the specific structure of the massage device 100 can be described from the description of the relevant embodiments. Figure 1 and Figure 2 The description of the components that are the same as or similar in structure to the massage device 100 is used in the context of this application. Figure 3 In the following embodiments, the description of the specific structure of the massage device 100 should be understood as an additional description of the embodiments that supplement the previously described embodiments, unless otherwise agreed upon. Figure 1 and Figure 2 This conflictes with the description of the specific structure of the massage device 100.

[0118] The control unit 120 can control the overall movement of the components included in the massage device 100. For example, the control unit 120 can control the structure of at least one of the body massage unit 101, arm massage unit 102, leg massage unit 103, frame unit 110, storage unit 130, user input unit 140, audio output module 150, network connection unit 160, massage module 170, and sensor unit 180. For example, the massage device 100 can be controlled by controlling the movement of the actuators and / or airbags included in the massage module 170.

[0119] The control unit 120 can be implemented by one or more processors. When the control unit 120 is implemented by multiple processors, at least some of the processors can be located at physically spaced distances from each other. Furthermore, the control unit 120 can be implemented in various ways, without limitation.

[0120] For example, the control unit 120 may include one or more processors. The processor may be implemented by an array of multiple logic gates, or by a combination of a general-purpose microprocessor and a memory storing a program executable in the microprocessor. Furthermore, those skilled in the art will understand that other types of hardware can be used to implement it. For example, the control unit 120 may be implemented using at least one of application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, and electrical units for performing other functions.

[0121] The control unit 120 can control the operation of the massage device 100 by controlling multiple actuators.

[0122] For example, the massage device 100 may include at least one of the following: a motion actuator for moving the massage module 170 along the frame portion 110; at least one actuator included in the massage module 170; a back angle actuator; an actuator for moving the armrest frame support portion; a leg angle actuator; a foot massage actuator; a leg length adjustment actuator; and a sliding actuator. The control unit 120 can control the operation of the massage device 100 by controlling at least one of these structures.

[0123] The motion actuator of the massage module 170 can be an actuator that allows the massage module 170 itself to move in at least one of the following directions: up / down and forward / backward. Through the action of the massage module motion actuator, the massage module 170 can move along the rack 111a of the frame portion 110.

[0124] The massage module 170 may include at least one actuator, and the control unit 120 can provide various massage actions by actuating the at least one actuator. For example, the control unit 120 can provide rolling massage, tapping massage, kneading massage, etc., by actuating the at least one actuator in the massage module 170, and is not limited to these, and can provide various massage actions. The at least one actuator included in the massage module can be various actuators such as forward / backward actuators and massage actuators. The forward / backward actuator can cause the massage module 170 to move forward / backward (or tilt) in at least one direction, either forward or backward. The massage actuator can cause the massage module 170 to perform various movements to provide various massage actions to the user.

[0125] 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. The back angle of the massage device 100 can be adjusted by the operation of the back angle actuator.

[0126] The actuator that moves the armrest frame support is used to adjust the position of the armrest placement part where the user's arm is located in the massage device 100. The position of the armrest placement part, i.e. the position of the arm massage part 102, can be adjusted by the actuator that moves the armrest frame support.

[0127] The leg angle actuator is an actuator used to adjust the angle of the leg massage section 103 of the massage device 100. The angle between the leg massage section 103 and the body massage section 101 can be adjusted by the action of the leg angle actuator.

[0128] A foot massage actuator is an actuator used to operate the foot massage module included in the leg massage unit 103. For example, the control unit 120 can provide foot massage to the user by using the foot massage actuator.

[0129] The leg length adjustment actuator is an actuator used to adjust the length of the leg massage unit 103. For example, the control unit 120 can use the leg length adjustment actuator to adjust the length of the leg massage unit 103 to fit the user, so that the user can enjoy a massage that matches their body shape.

[0130] The sliding actuator enables the massage device 100 to perform sliding movements. For example, the upper base frame 112a can be moved forward or backward by the action of the sliding actuator, so that the body frame 111 connected to the upper base frame 112a can also be moved forward or backward.

[0131] In addition, in this utility model, Figure 1The airbag and / or air supply unit can be considered as a structure included in the massage module 170, and the control unit 120 can control the operation of the massage device 100 by controlling the airbag and / or air supply unit.

[0132] The storage unit 130 can be implemented by one or more memory units. The storage unit 130 can store various information related to the massage device 100. For example, the information stored in the storage unit 130 may include massage control information, and may also include personal authentication information, but is not limited thereto. Information about the user may include personal authentication information, user biometric information (e.g., age, height, weight, blood pressure, body composition, heart rate, electrocardiogram, etc.), and other user-related information.

[0133] Storage unit 130 can be implemented using a non-volatile storage medium capable of continuously storing arbitrary data. For example, storage unit 130 may include not only disks, optical disks, and magneto-optical storage devices, but also storage devices based on flash memory and / or battery backup memory, but is not limited thereto.

[0134] The storage unit 130 can be a main storage device directly accessed by the processor, such as a random access memory (RAM) like dynamic random access memory (DRAM) or static random access memory (SRAM), or a volatile storage device whose stored information is instantly deleted when the power is cut off, but it is not limited to these. This storage unit 130 can be operated by the control unit 120.

[0135] The user input unit 140 can receive commands related to the operation and control of the massage device 100 from the user. The user input unit 140 can be implemented in various forms.

[0136] The user input unit 140 can have various buttons in the form of hot keys and / or option buttons for selecting, canceling, or inputting execution directions, based on preset user settings or its own preset functions.

[0137] The user input unit 140 can be implemented using a keyboard, dome switch, touchpad (static / electrostatic), jog wheel, jog switch, etc., but is not limited to these. Alternatively, the user input unit 140 can be based on voice recognition technology to obtain commands based on the user's voice.

[0138] The user input unit 140 may include a display for outputting (or displaying) information such as the operation status of the massage device 100 or the user's current state. That is, the user input unit 140 may also function as an output unit for outputting information about the massage device 100. For example, the user input unit 140 may receive user input and send it to the control unit 120. Furthermore, the user input unit 140 may display information about the massage device 100. For example, the display in the user input unit 140 may output various information such as operation information of at least one of the body massage unit 101, arm massage unit 102, and leg massage unit 103, and information about the massage mode being performed.

[0139] In this case, the display may include at least one of, but is not limited to, liquid crystal display (LCD), thin film transistor-liquid crystal display (TFT LCD), organic light-emitting diode (OLED), flexible display, and 3D display. The display may be provided in the form of a touch screen and may be configured to allow a user to perform input by touching the display.

[0140] On the other hand, the user input section is not limited to the above embodiments. The user input section may include... Figure 3 User input unit 140, massage device control device 200 or Figure 4 The user input section of the various external devices mentioned above.

[0141] The audio output module 150 is capable of providing audio output to the user in any form. For example, the audio output module 150 outputs to the user the optimal sound source and / or binaural beats for the massage method provided by the massage device 100, thereby providing brain stimulation to the user. The audio output module 150 can output audio signals received via the network connection unit 160 or stored in an internal / external storage medium (not shown).

[0142] For example, the audio output module 150 can output audio sources controlled by the user terminal via the user terminal and the network connection unit 160. Additionally, the audio output module 150 can output any form of sound signal generated in association with the operation of the massage device 100.

[0143] The network connection unit 160 can receive signals transmitted from an external device or transmit signals about the massage device 100 to an external device. For example, the control unit 120 can obtain a result signal by processing the signal received via the network connection unit 160 and can transmit the result signal to the network connection unit 160. The network connection unit 160 can transmit (or output) the result signal to an external device.

[0144] The network connection unit 160 can communicate with modules inside the massage device 100, external massage devices, and / or user terminals via any type of network. The network connection unit 160 may include a wired / wireless connection module for network connectivity. Wireless connectivity technologies such as Wireless LAN (WLAN) (Wi-Fi), Wireless Broadband (Wibro), World Interoperability for Microwave Access (WiMAX), and High Speed ​​Downlink Packet Access (HSDPA) can be used. Wired connectivity technologies such as Digital Subscriber Line (xDSL), Fiber to the Home (FTTH), and Power Line Communication (PLC) can be used. Furthermore, the network connectivity unit 160 may include a short-range communication module capable of sending and receiving data with nearby devices or terminals. Examples of short-range communication technologies include Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), and ZigBee, but are not limited to these.

[0145] As described above, a massage device 100 according to an embodiment of the present invention may include a massage module 170. The massage module 170 is a structure that provides mechanical stimulation to the user, and the massage module 170 is movable along the frame portion 110. According to the embodiment, the massage module 170 may be configured not only in the body massage portion 101, but also in the arm massage portion 102 and / or the leg massage portion 103.

[0146] The sensor unit 180 may include at least one sensor. The massage device 100 can use the sensor unit 180 to acquire various types of information. The sensor unit 180 may be configured as a sensor using measuring devices such as pressure, potential, and optics. For example, the sensor may include, but is not limited to, pressure sensors, infrared sensors, LED sensors, light sensors, Hall effect sensors, capacitive sensors, contact sensors, electrode sensors, air pressure measuring sensors, etc.

[0147] The sensor unit 180 can be used to acquire various types of information. For example, the sensor unit 180 can be used to identify a user. That is, it can acquire information such as whether the user is seated, the user's body type, the user's weight, and whether the user has any physical abnormalities. In addition, the sensor unit 180 may include a biometric information acquisition sensor. The biometric information acquisition sensor may acquire at least one of the following: fingerprint information, facial information, voice information, iris information, blood pressure information, heart rate (or heartbeat) information, electrocardiogram (ECG) information, body composition information, etc., but is not limited to these, and may include various types of biometric information. For example, the massage device 100 may provide personalized massage based on the information acquired by the sensor unit 180.

[0148] The massage device 100 can detect the contact area and / or contact position with the user via the sensor unit 180. For example, information obtained from the sensor unit 180 can also be used to obtain information about whether the user's body is in a state of being clamped in the massage device 100.

[0149] The massage device 100 may also include an interface (not shown). The interface may be disposed on at least a portion of the massage device 100. It can be connected to an external device (e.g., other electronic devices, USB, etc.) via the interface.

[0150] Figure 4 This is a diagram illustrating an external device capable of communicating with a massage device 100 according to an embodiment of the present invention.

[0151] The massage device 100 can communicate with the external device 300 via the network connection unit 160 through wired and / or wireless means, and send and receive various data.

[0152] External device 300 may include portable electronic device 310, such as an AI speaker, tablet, or smartphone. Portable electronic device 310 may be a dedicated or general-purpose portable electronic device for massage device 100. Additionally, external device 300 may include wearable devices 320 such as smartwatches and / or smart bracelets. External device 300 may include massage chairs 330 other than the massage device 100 currently being used by the user. External device 300 may include a hospital server 340. External device 300 may include a personal health record (PHR) server. Additionally, external device 300 may include a cloud server 350. External device 300 may include medical measurement devices such as electronic scales, blood glucose meters, or blood pressure monitors.

[0153] Although some examples of the external device 300 have been described in this invention, it should be understood that any device that is wired or wirelessly connected to the massage device 100 and can send and receive information with it can be included in the external device 300.

[0154] Figure 5 This is a perspective view of a massage device including a tilting drive unit, according to an embodiment of the present invention. Figure 6 This is an example of an embodiment of the present invention viewed from above. Figure 5 A diagram of a massage device.

[0155] In the detailed description of the massage device 500, the up / down direction, the front / back direction and / or the width direction may be mentioned. Figure 5 A vertical coordinate system including X, Y, and Z axes for ease of explanation is shown. For example, the X-axis may represent the length direction of the massage device 500 (or frame portion 510), the Y-axis may represent the width direction of the massage device 500 (or frame portion 510), and the Z-axis may represent the height direction of the massage device 500 (or frame portion 510).

[0156] In this invention, "front" can refer to the direction faced by the user sitting in the massage device 500, and "rear" can refer to the direction faced by the back of the user sitting in the massage device 500. Here, "front" and "rear" can be defined with reference to the X-axis direction.

[0157] Figure 5 The state of the massage device 500 before performing the standing action can be shown (hereinafter, it can be referred to as the "standard state").

[0158] The massage device 500 may include a frame portion 510 (e.g.: Figure 2 The frame portion 510 can constitute a body massage portion (e.g., the frame portion 510). Figure 1The frame of the internal structure of the body massage section 101. The overall shape of the massage device 500 is defined by the frame section 510, so the frame section 510 can be referred to as the "main frame".

[0159] The frame portion 510 may include the body frame 511 (e.g.: Figure 2 The body frame 511) and the base frame 512 supporting the body frame 511 (e.g.: Figure 2 The base frame 512). The body frame 511 is disposed on the base frame 512 and can be configured to support the user's body. The body frame 511 may be provided with a massage module.

[0160] At least a portion of the body frame 511 may be provided with a rack 511a (e.g.: Figure 2 The rack 511a can be a component used to guide the up-and-down movement of the massage module. According to one embodiment, the rack 511a can be arranged opposite each other on both sides of the body frame 511. Additionally, the massage module can be configured to move along the rack 511a.

[0161] The base frame 512 can refer to the part that supports the body frame 511 and is in contact with the ground. The base frame 512 may include an upper base frame 512a (e.g.: Figure 2 The upper base frame 512a) and the lower base frame 512b (e.g.: Figure 2 (Lower base frame 512b).

[0162] The upper base frame 512a can support the body frame 511, and the lower base frame 512b can be connected to the ground. Furthermore, the upper base frame 512a can be arranged adjacent to the lower base frame 512b. (See reference...) Figure 5 In the state before performing the standing action (i.e., the standard state), the upper base frame 512a and the lower base frame 512b of the massage device 500 can be configured to be substantially parallel to each other.

[0163] According to one embodiment, the lower base frame 512b may include: a first lower frame 5121, parallel to the length direction (e.g., X-axis) of the massage device 500; and a second lower frame 5122, spaced a predetermined distance from the first lower frame 5121 and parallel to the first lower frame 5121. A third lower frame 5123 may be configured between the first lower frame 5121 and the second lower frame 5122.

[0164] The third lower frame 5123 may be parallel to the width direction (e.g., the Y-axis) of the massage device 500. According to one embodiment, the lower base frame 512b may further include at least one of a fourth lower frame 5124, a fifth lower frame 5125, and a sixth lower frame 5126 that are parallel to the third lower frame 5123.

[0165] In addition, for Figure 5 The description of the frame section 510 and its constituent elements can be applied to Figure 2 Description of the frame section 110 and the constituent elements included therein.

[0166] According to one embodiment of the present invention, the massage device 500 may include: a base frame 512 in contact with the ground; a body frame 511; a tilting drive unit 600 to rotate the body frame 511 relative to the base frame 512; and a damping member (e.g., Figure 7 The first damping member 610 has one end connected to the body frame 511 and the other end connected to the base frame 512.

[0167] The base frame 512 may include: an upper base frame 512a supporting the body frame 511; and a lower base frame 512b supporting the upper base frame 512a and contacting the ground. According to one embodiment, one end of the tilting drive unit 600 is connected to the lower base frame 512b in the base frame 512, and the other end is connected to the body frame 511, allowing the body frame 511 to rotate relative to the lower base frame 512b.

[0168] The massage device 500 can perform various actions such as standing in the body massage section, adjusting the back angle, adjusting the leg angle in the leg massage section, and adjusting the leg length, and may include various actuators for performing such actions.

[0169] Reference Figure 5 and Figure 6 The massage device 500 may include a tilt drive unit 600, which enables the body frame 511 of the body massage unit to stand or lie flat.

[0170] Additionally, the massage device 500 may include a back angle adjustment unit 550 capable of adjusting the angle of the body frame 511 of the body massage unit. For example, the back angle adjustment unit 550 may have a mechanism for adjusting the back angle by sliding the body frame 511. The tilting action of the massage device 500 can be achieved by adjusting the angle of the back angle adjustment unit 550.

[0171] Additionally, the massage device 500 may include a leg angle adjustment section 560 capable of tilting the leg massage section. Furthermore, the massage device 500 may also include a leg length adjustment section capable of adjusting the leg length of the leg massage section (e.g., [missing information]). Figure 10 Leg length adjustment section 850).

[0172] The tilt drive unit 600 of this invention can make the massage device 500 stand up using only a single actuator 601, thus making it convenient for the user to sit. To this end, the massage device 500 of this invention is configured such that the hinge axis for the hinge drive of the tilt drive unit 600 is positioned as low as possible, and the tilt drive unit 600 can be located on the center side of the massage device 500.

[0173] The back angle adjustment unit 550, the leg length adjustment unit, and the tilt drive unit 600 can operate independently, relative to each other, in conjunction, or in a quasi-in conjunction manner.

[0174] The massage device 500 may include a tilting frame 520. According to one embodiment, the body frame 511 may include: a seat frame 5111 capable of supporting a portion of the user's body; and a tilting frame 520 connecting the base frame 512 and the seat frame 5111, and configured to tilt. According to one embodiment, the tilting frame 520 supports the seat frame 5111 at a predetermined angle (θ) tilted relative to the base frame 512, and in this sense may be referred to as the "support frame 520".

[0175] According to one embodiment, the tilting frame 520 may include: a first vertical frame 521, coupled to one side of the body frame 511; a second vertical frame 522, coupled to the other side of the body frame; and a horizontal frame 523, connecting the first vertical frame 521 and the second vertical frame 522. The tilting drive unit 600 includes a tilting rod guide 602 and a tilting rod 603, one end of which may be connected to the horizontal frame 523, and the other end to the base frame 512, for example, to the lower base frame 512b. An actuator 601 of the tilting drive unit 600 is configured adjacent to the lower base frame 512b and may be connected to the tilting rod 603.

[0176] According to one embodiment, the actuator of the tilt drive unit 600 of this invention can be positioned lower than that of other actuators (e.g., back angle adjustment actuator, leg angle adjustment actuator). By positioning the actuator of the tilt drive unit 600 as low as possible, the tilt rod guide 602 and tilt rod 603 of the tilt drive unit 600 can stand as vertically as possible. Therefore, interference from other drive units can be prevented. In addition, positioning the actuator of the tilt drive unit 600 as low as possible lowers the center of gravity, thereby reducing the risk of the massage device 500 tipping over when performing standing movements.

[0177] According to one embodiment, the first vertical frame 521 and the second vertical frame 522 may be connected to the upper base frame 512a at different locations. For example, the first vertical frame 521 and the second vertical frame 522 may each have the following shape: a portion of the upper base frame 512a and a portion opposite to the portion of the upper base frame 512a extend elongatedly in a direction parallel to the height direction (e.g., the Z-axis) of the massage device 500.

[0178] According to one embodiment, the first vertical frame 521 and the second vertical frame 522 can be integrally formed with the upper base frame 512a.

[0179] The horizontal frame 523 is a structure that connects the first vertical frame 521 and the second vertical frame 522 to each other. According to one embodiment, it may have a shape that extends relatively long parallel to the width direction (e.g., the Y-axis) of the massage device 500.

[0180] According to one embodiment, the tilt drive unit 600 can be connected to the horizontal frame 523 in the intermediate region between the first vertical frame 521 and the second vertical frame 522. The tilt drive unit 600 is directly / indirectly connected to the horizontal frame 523 and can be configured to tilt the entire body frame 511 by lifting the horizontal frame 523 during standing operation relative to the massage device 500. According to one embodiment, the first vertical frame 521 may include a sub-frame extending parallel to the height direction of the massage device 500 and a sub-frame extending along the height and length directions (e.g., the X-axis) of the massage device 500. For example, the first vertical frame 521 may include a first sub-frame 5211 and a second sub-frame 5212 extending along the height and length directions (e.g., the X-axis) of the massage device 500. According to one embodiment, track structures are formed in the first sub-frame 5211 and the second sub-frame 5212 respectively. For example, the massage device 500 can be configured to drive rollers (not shown) formed on the side of the seat frame 5111 when a back tilting action is performed.

[0181] Figure 5The first subframe 5211 and the second subframe 5212 are shown in a shape that intersects with each other, but are not limited thereto. Additionally, for example, the first vertical frame 521 may additionally or alternatively include, in addition to the first subframe 5211 and the second subframe 5212, a third subframe 5213, a fourth subframe 5214, and a fifth subframe 5125 extending parallel to the height direction of the massage device 500. Furthermore, although not shown in the figures, according to various embodiments, the first vertical frame 521 may also include other subframes besides the first to fifth subframes 5211, 5212, 5213, 5214, and 5215, or at least one of the first to fifth subframes 5211, 5212, 5213, 5214, and 5215 may be omitted.

[0182] The horizontal frame connected to the tilt drive unit 600 may be a horizontal frame 523 located at the rearmost end of the tilt frame 520. According to one embodiment, the horizontal frame connecting the first vertical frame 521 and the second vertical frame 522 may include multiple horizontal frames. The horizontal frame 523 connected to the tilt drive unit 600 may be the rearmost horizontal frame among the multiple horizontal frames connecting the first vertical frame 521 and the second vertical frame 522.

[0183] According to one embodiment, the first vertical frame 521 and the second vertical frame 522 may have a structure that is symmetrical to each other with respect to the horizontal frame 523. For example, as... Figure 5 As shown, when the first vertical frame 521 includes the first to fifth sub-frames 5211, 5212, 5213, 5214, and 5215, the second vertical frame 522 may also include the sixth to tenth sub-frames (not shown) corresponding to the first vertical frame 521.

[0184] The massage device 500 includes a leg angle adjustment section 560 disposed on the lower part of the seat frame 5111, and the leg massage section 503 can be configured to adjust the angle via the leg angle adjustment section 560.

[0185] The space surrounded by the lower part of the seat frame 5111, the first vertical frame 521, and the second vertical frame 522 can be configured with a tilt drive unit 600, a backrest angle adjustment unit 550, and a leg angle adjustment unit 560. The leg angle adjustment unit 560 is composed of a pair of leg angle adjustment units 561 and 562, and may include a first leg angle adjustment unit 561 and a second leg angle adjustment unit 562.

[0186] The first leg angle adjustment unit 561 may include a first leg angle adjustment actuator 5611 and a first support frame 5612. The first support frame 5612 may be configured to adjust the angle of the leg massage unit by transmitting power generated by the first leg angle adjustment actuator 5611. The first support frame 5612 may be configured to support the weight of the leg massage unit and the user's leg. According to one embodiment, the first support frame 5612 is configured to be length-adjustable so that it can move smoothly within the space surrounded by the lower part of the seat frame 5111, the first vertical frame 521, and the second vertical frame 522. For example, the first support frame 5612 may include a shock absorber. The second leg angle adjustment unit 562 includes a second leg angle adjustment actuator 5621 and a second support frame 5622, and the description regarding the first leg angle adjustment actuator 5611 and the first support frame 5612 in the first leg angle adjustment unit 561 can be applied.

[0187] Reference Figure 5 and Figure 6 The massage device 500 may include a leg angle adjustment link 570, which is configured to contact and push the leg rest of the leg massage unit 503 when the leg angle of the leg massage unit connected to the leg angle adjustment unit 560 is adjusted. One side of the leg angle adjustment link 570 may be connected to the seat frame 5111 and the other side may contact the leg massage unit. According to one embodiment, the other side of the leg angle adjustment link 570 may be provided with a roller 573, which makes rolling contact with the leg rest of the leg massage unit. The leg angle adjustment link 570 may correspond to the leg angle adjustment unit 560 and may be composed of a pair of leg angle adjustment links 571 and 572. The portion between one side and the other side of the first leg angle adjustment link 571 may be connected to the first end 5613 of the first support frame 5612 of the first leg angle adjustment unit 561. The portion between one side and the other side of the second leg angle adjustment link 572 can be connected to the second end 5623 of the second support frame 5622 of the second leg angle adjustment part 562.

[0188] Figure 7 This is a side view of a massage device according to an embodiment of the present invention.

[0189] Reference Figure 7 The massage device 500 of this invention can rotate clockwise or counterclockwise with respect to a virtual axis passing through a low hinge point P, by receiving power from the tilting drive unit 600. The hinge point P passing through the virtual axis can be formed in an upright hinge portion, which is formed in the base frame 512. The body frame 511 of this invention can be configured to adjust the standing angle based on the standing motion of the massage device, with respect to the upright hinge portion formed in the base frame 512.

[0190] When the massage device 500 is standing upright, the tilt lever 603 of the tilt drive unit 600 is configured to push the horizontal frame upward (e.g.: Figure 6 (Horizontal frame 523). At this time, the tilt drive unit 600 can support the horizontal frame by stretching one end of the tilt rod 603 from the tilt rod guide 602, while the overall length of the tilt drive unit 600 increases.

[0191] According to one embodiment of the present invention, the massage device 500 may include a damping member 610 together with the tilt drive unit 600. The damping member 610 may be a unit for assisting the individual tilt drive unit 600 in performing a standing action. According to the present invention, when the damping member 610 is additionally provided, it has the advantage of further improving the stability of the standing action of the massage device 500. In addition, according to the present invention, when the damping member 6100 is additionally provided, it has the advantage of absorbing and / or mitigating vibrations or external impacts caused by the movement of the tilt drive unit 600.

[0192] Compared with the present invention, multiple tilting drive units 600 can be provided (e.g., two tilting drive units 600), and one end of each of the multiple tilting drive units 600 is connected to the base frame 512 and the other end is connected to the horizontal frame (e.g., Figure 6 The horizontal frame (523) allows for side-by-side configuration.

[0193] According to this invention, instead of providing multiple tilt drive units 600, a single tilt drive unit 600 is provided, and a damping member 610 is provided as an auxiliary unit. Therefore, it has the advantage of being easy to replace and repair in case of functional failure of the tilt drive unit 600. In addition, by providing the damping member 610 of this invention, the upright strength of the massage device 500 is improved.

[0194] According to one embodiment, the damping member may include a first damping member 610 connected to a first vertical frame and a second damping member connected to a second vertical frame. According to one embodiment, the first damping member 610 and the second damping member may be symmetrically arranged relative to each other with respect to the center of the horizontal frame 523. The first damping member 610 and the second damping member may be configured to assist the movement of the tilt drive unit 600 on one side and the other side. For example, when the tilt drive unit 600 performs a standing movement, if the rod of the tilt drive unit 600 is stretched, the first damping member 610 and the second damping member may be configured to stretch simultaneously.

[0195] Figure 7A first damping member 610 is shown disposed adjacent to the first vertical frame 521. The description of the second damping member can be applied to the description of the first damping member 610.

[0196] According to one embodiment, the damping component of this invention may include a gas spring. However, it is not necessarily limited to this; according to various embodiments, the damping component may be replaced by a similar method to a gas spring or other alternative technologies. For example, as a damping component, in addition to the gas spring, combinations of torsion springs, compression coil springs, leaf springs, hydraulic dampers, hydropneumatic springs, pneumatic cylinders, bellows, and electromagnetic actuators may be used instead. The damping component of this invention may be simply referred to as a "damper".

[0197] Figure 8 This is a diagram showing a damping member in a compressed state according to an embodiment of the present invention. Figure 9 This is a diagram showing a damping member in a stretched state according to an embodiment of the present invention.

[0198] Figure 8 and Figure 9 Damping components can be used as Figure 7 The first damping member 610 is used as a reference. The following discussion focuses on... Figure 8 and Figure 9 In the description of the damping member and its surrounding components, the first damping member 610 may be simply referred to as "damping member 610". The description of the structure, configuration, and operation of the first damping member 610 and its surrounding components (link frame and guide) can be applied in the same way to the second damping member and its surrounding components.

[0199] The damping member 610 of this invention has one end connected to the base frame side and one end connected to the body frame side, where the body frame side can be an inclined frame 520. The massage device 500 of this invention may also include a connecting rod frame 620 and a guide portion 630. The connecting rod frame 620 and the guide portion 630 may be structured such that, during the process of the massage device 500 standing up and returning to its original state, the damping member does not undergo shape changes in the expected direction or other directions, and the damping member also returns to its original state.

[0200] According to one embodiment, one end 611 of the damping member 610 may be connected to the link frame 620, and the other end 612 of the damping member 610 may be connected to the inclined frame 520.

[0201] exist Figure 8 , Figure 9 The following Figure 11 and Figure 12In one embodiment, the damping member 610 can be connected to the vertical frame 521 in the inclined frame 520. However, embodiments of the present invention are not limited thereto; it should be noted that the damping member 610 can also be connected to the horizontal frame in the inclined frame 520. The following describes... Figure 13 and Figure 14 The embodiment of the damping member 610 being connected to the horizontal frame will be described later.

[0202] Reference Figure 8 and Figure 9 According to one embodiment, the inclined frame 520 of the connecting damping member 610 may include a vertical frame 521.

[0203] As described above, the vertical frame 521 may include multiple sub-frames.

[0204] According to one embodiment, the vertical frame 521 may include a third sub-frame 5213, a fourth sub-frame 5214, and a fifth sub-frame (e.g., parallel to the height direction of the massage device 500). Figure 7 (5215). The other end 612 of the damping member 610 in the plurality of subframes is connected to other subframes (e.g., fourth subframe 5214) except for the outermost subframe (e.g., third subframe 5213 and fifth subframe 5215), thereby assisting the standing action of the tilt drive 600.

[0205] According to one embodiment, with one end of the fourth subframe 5214 connected to the vertical frame 521 and one end 611 connected to the link frame 620, the damping member 610 can be adjusted in length.

[0206] The damping member 610 may include a damping rod guide 6132 and a damping rod 6131. ​​The damping rod guide 6132 provides space to receive the damping rod 6131 and is configured to support the damping rod 6131 during piston-like movement. For example, when the damping member 610 is a gas spring, gas may be filled inside the damping rod guide 6132. The end of the damping rod 6131 is disposed on the vertical frame 521 side, and the damping rod guide 6132 may be connected to the base frame 512b side.

[0207] According to one embodiment, a plate 5216 is formed in the fourth sub-frame 5214 of the vertical frame 521, and the other end of the damping member 610 can be connected to the plate 5216. The plate 5216 increases the configuration freedom of the damping member 610. According to one embodiment, the plate 5216 can be welded and attached to the fourth sub-frame 5214, or it can be integrally formed with the fourth sub-frame 5214.

[0208] According to one embodiment, such as Figure 8 and Figure 9As shown, the linkage frame 620 may include: a first linkage frame 621 located on one side of the damping member 610; and a second linkage frame 622 located on the other side of the damping member 610. However, it is not limited thereto; according to an embodiment, the second linkage frame 622 located on the other side of the damping member 610 may be omitted. According to one embodiment, the end of the damping rod 6131 may be connected to the vertical frame 521 side, and the damping rod guide 6132 may be connected to the base frame 512b side via the first linkage frame 621. The base frame 512a may include: an upper base frame 512a supporting the body frame 511; and a lower base frame 512b supporting the upper base frame and contacting the ground. One end of the linkage frame 620 (e.g., the first linkage frame 621) may be connected to the upper base frame 512a, and the other end may be connected to a guide portion 630 formed in the lower base frame 512b.

[0209] Reference Figure 8 and Figure 9 One end of the linkage frame 620 (e.g., the first linkage frame 621) can be connected in a manner rotatable relative to the upper base frame 512a. The other end can be configured to slide within a guide portion 630 formed in the lower base frame based on the upright movement of the massage device. The guide portion 630 may include a guide rail 631 extending elongated in a direction parallel to the length direction of the lower base frame 512b. The linkage frame 620 can move along the guide rail 631 of the guide portion 630. By including the guide rail 631, the relative position between the frames can be easily changed while limiting the direction of movement of the linkage frame 620.

[0210] According to one embodiment, when the massage device 100 includes a first damping member 610 and a second damping member, the massage device 100 may further include a connecting frame 640 connecting the first damping member 610 and the second damping member. The connecting frame 640 may be configured to connect a first link frame 621 of the first damping member 610 and a first link frame of the second damping member.

[0211] According to one embodiment, the tilt drive unit 600 and the damping member 610 can be configured to support frames at different positions relative to each other in the frame portion 510. For example, when one end of each of the tilt drive unit 600 and the damping member 610 is disposed on the lower base frame 512b, the other end of the tilt drive unit 600 is connected to a horizontal frame, which is connected to a third sub-frame 5213 disposed at the rearmost position in the first vertical frame 521, while the damping member 610 can be connected to a fourth sub-frame 5214 in the first vertical frame 521. Since the tilt drive unit 600 and the damping member 610 are configured to support frames at different positions, the load on the massage device 500 can be distributed.

[0212] Figure 10 This is a perspective view showing a leg massage part according to an embodiment of the present invention.

[0213] Reference Figure 10 The massage device 500 may also include a leg massage unit 800 (e.g.: Figure 1 (Leg massage section 103). According to one embodiment, the massage device 500 also includes a leg massage section 800 connected to the body frame 511 and massaging the user's legs. The leg massage section 800 can be configured to adjust its length based on the upright movement of the massage device 500.

[0214] Figure 10 The leg massage unit 800 can be provided with two leg massage units 800 corresponding to the user's two legs, and the two leg massage units 800 can be connected by a bracket 580 provided on one side of the frame unit 510.

[0215] The leg massage unit 800 massages the user's legs and is rotatably connected to the body frame. It may include a first frame 810, a second frame 830, a leg length adjustment unit 850, a length sensor unit 870, and a contact roller unit 890. Each of the two leg massage units 800 may include a first frame 810, a second frame 830, a leg length adjustment unit 850, a length sensor unit 870, and a contact roller unit 890.

[0216] Either leg massager 800A can accommodate the user's left foot, and the other leg massager can accommodate the user's right foot.

[0217] Figure 10 The diagram shows a leg massage unit 800 that accommodates the user's left foot, with the leg rest, foot rest, and leg massage module omitted.

[0218] The first frame 810 can be configured such that, when the leg massage unit 800 is connected to one side of the frame unit 510, its angle can be changed via the leg rotation axis LA while its position is fixed relative to the frame unit 510. Since the first frame 810 is connected to the support 580 side of the frame unit 510 in a manner rotatable along a preset leg rotation axis LA, it can rotate clockwise or counterclockwise relative to the frame unit 510. Here, since the relative position of the first frame 810 is fixed to the support 580 of the leg massage unit 800, it can also be referred to as a "fixed frame 810".

[0219] The second frame 830 can be configured to move relative to the first frame 810. The second frame 830 can be referred to as the "moving frame".

[0220] According to one embodiment, the second frame 830 may include a second-first movable frame 831 and a second-second movable frame 835. The second-first movable frame 831 may be a portion configured to be movable relative to the first frame 810, and the second-second movable frame 835 may be a portion configured to be movable relative to the second-first movable frame 831. Regarding the movement of the second-first movable frame 831 relative to the first frame 810, additionally or alternatively, the second-second movable frame 835 may be configured to be movable relative to the second-first movable frame 831. According to one embodiment, since the second-first movable frame 831 is positioned corresponding to the user's lower leg, it may also be referred to as a "lower leg movable frame." Furthermore, according to an embodiment, since the second-second movable frame 835 is positioned corresponding to the user's foot or the sole of their foot, it may also be referred to as a "foot movable frame."

[0221] With the first frame 810 fixed to one side of the frame portion 510, the second frame 830 can be connected in a manner that allows it to move relative to the first frame 810. Figure 10 This can show the state where the length of the leg massage section 800 is not adjusted.

[0222] Reference Figure 10 The first frame 810 may include a first frame body 811, a hinge shaft 813, and a shaft support 815.

[0223] The first frame body 811 is connected to the second frame 830. With the guide protrusion of the second frame 830 inserted into the guide rail 8111 (the guide rail 8111 is formed in the first frame body 811), the second frame 830 can move relative to the first frame 810.

[0224] The hinge shaft 813 is attached to the first frame body 811 and can extend along the width direction of the first frame body 811. The hinge shaft 813 can be formed in a cylindrical shape and attached to the first frame body 811.

[0225] The longitudinal central axis of the hinge axis 813 can be formed in the same way as the rotation central axis LA of the first frame 810.

[0226] According to one embodiment, the hinge pin 813 is rotatably connected to the shaft bracket 815, and the shaft bracket 815 can be connected to the bracket 580 provided in the frame portion 510. Two shaft brackets 815 can be provided, corresponding to the hinge pins 813 provided on both sides of the first frame 810. The ends of the hinge pins 813 can be inserted into the shaft brackets 815.

[0227] Figure 10 The leg massage unit 800 may include a guide unit 840 and a leg length adjustment unit 850.

[0228] The guide portion 840 may include a guide base 841, a guide bracket 842, and a guide shaft 845. The guide portion 840 may be a portion fixed to the first frame body 811. The guide bracket 842 is a structure located at the front of the first frame body 811 and may be connected to the end of the guide shaft 845. According to one embodiment, the guide bracket 842 may be connected to and fixed to one end and the other end of the guide shaft 845 respectively in the first frame body 811. The length direction of the guide shaft 845 may be parallel to the length direction of the first frame 810 and the second frame 830. The guide portion 840 includes the guide base 841 and the guide bracket 842, thereby allowing the guide shaft 845 to be arranged forward from the first frame body 811 at a predetermined interval. According to one embodiment, by arranging the guide shaft 845 forward from the first frame body 811, other components (e.g., electronic components) can be arranged in the space surrounded by the rear side of the guide shaft 845 and the first frame body 811. According to another embodiment, the guide bracket 842 is omitted here, and the guide base 841 and the guide shaft 845 can also be directly connected.

[0229] The leg length adjustment unit 850 may include a leg length adjustment actuator 851 and a power transmission unit 855. The leg length adjustment actuator 851 is a structure that generates power and can transmit the power to the power transmission unit 855.

[0230] With the power transmission unit 855 at least partially surrounding the guide shaft 845, it can be guided and moved vertically via the guide shaft 845. For example, the housing of the power transmission unit 855 has a through opening, through which the guide shaft 845 can be configured. According to one embodiment, threads can be formed around the outer peripheral surface of the guide shaft 845. The guide shaft 845 and the power transmission unit 855 can be connected by a threaded connection.

[0231] The power transmission unit 855 can be combined with the second frame 830. When the power transmission unit 2550 is fixedly configured in the second frame 830, it can receive power from the leg length adjustment actuator 851 and move on the guide 840.

[0232] For example, the power transmission unit 855 is a structure that includes a pulley unit with a connecting belt and a linear movement unit, which transmits the rotational power from the leg length adjustment actuator 851 to the linear movement unit, thereby enabling the linear movement unit to move along the length direction (e.g., the vertical direction) of the guide shaft 845.

[0233] The length sensor unit 870 can be configured to accurately identify changes in leg length by measuring the relative movement length of the first frame 810 relative to the second frame 830.

[0234] The length sensor unit 870 may include a sensor body 871 and a sensor plate 872. For example, the sensor body 871 of the length sensor unit 870 may be disposed on one surface of the housing of the power transmission part 855 of the leg length adjustment part 850, and the sensor plate 872 may be disposed on the first frame 810. According to one embodiment, the sensor plate 872 may be fixed to one side of the guide base 841. The sensor plate 872 extends elongatedly in a direction parallel to the length direction of the first frame 810, and a plurality of holes 873 may be formed in the sensor plate 872.

[0235] The plurality of holes 873 may include a first hole 873a, a second hole 873b, a third hole 873c, and a fourth hole 873d. Light emitted from a light-emitting unit disposed on one side of the sensor body 871 can be configured to enter a light-receiving unit through one of the plurality of holes 873. The first hole 873a and the third hole 873c are holes respectively disposed at the ends of the plurality of holes 873, and can be holes through which light passes when the length of the leg massage unit 800 is at its minimum and when the length of the leg massage unit 800 is at its maximum. The second hole 873b is a hole disposed between the first hole 873a and the third hole 873c, and can be composed of a plurality of second holes 873b. The plurality of second holes 873b can be arranged at certain intervals along the length direction of the sensor plate 872. The length of the leg massage unit 800 can vary between its minimum and maximum length. At this time, light passes through at least one of the plurality of second holes 873b, thereby obtaining its position information, and thus the length of the leg massage unit 800 can be measured. For example, in the basic state where the massage device 500 is not in a standing position, the fourth hole 873d can be a hole corresponding to the length of the leg massage part 800.

[0236] As the length sensor unit 870, in Figure 10 Examples of applications of optical sensors are described, but are not necessarily limited to these.

[0237] Figure 11 This is a side view of a massage device before performing a standing action, according to an embodiment of the present invention. Figure 12 This is a side view of a massage device for performing standing actions according to an embodiment of the present invention.

[0238] Reference Figure 11 and Figure 12 The massage device 500 can be tilted with reference to a virtual axis passing through the hinge point P. Figure 12 The massage device 500 is shown in a state at a predetermined standing angle θ, which can be shown in relation to... Figure 11 Compared to the previous standing position, the massage device 500 is rotated counterclockwise by R1 with the hinge point P as the reference and is in a standing state. As the massage device 500 rotates counterclockwise by R1 with the hinge point P as the reference, the body frame 511 can also rotate counterclockwise by R2. If the massage device 500 rotates clockwise, the body frame 511 can also rotate clockwise. According to one embodiment, in conjunction with the tilting action of this massage device 500, the leg massage unit 800 can also rotate clockwise or counterclockwise by R3.

[0239] The massage device 500 may include a control unit for controlling the angle of the body frame 511 and the control unit for the leg massage portion (e.g.: Figure 3 The control unit 120 can, according to one embodiment, execute the standing action of the massage device 500 based on user input or preset options (e.g., a standing action option based on user proximity detection). In this case, the control unit 120 can be configured to adjust the length of the leg massage unit 800 based on information measured by the length sensor unit 870.

[0240] According to one embodiment, the control unit 120 can control the leg length of the leg massage unit 800 to increase or decrease in response to the tilt angle of the massage device 500. For example, see also Figure 11 and Figure 12 ,exist Figure 11 In the standing position, the leg massage section 800mm in length can be at its minimum, while when performing... Figure 12 When the massage device 500 is in a standing position, according to one embodiment, the control unit 120 can control the leg length of the leg massage unit 800 to increase in response to the tilt angle of the massage device 500. For example, when the tilt angle of the massage device 500 gradually increases, the control unit 120 can control the leg length of the leg massage unit 800 to decrease as needed, thereby preventing excessive load from being applied to the tilt drive unit 600.

[0241] The control unit 120 of this utility model can control the length of the leg massage unit 800 so that the leg massage unit 800 is always in contact with the ground, so as to prevent the massage device 500 from tilting excessively when standing or the user sitting, causing the center of gravity to shift forward and thus the massage device 500 to tip over.

[0242] For example, refer to Figure 11 and Figure 12The control unit 120 can detect whether the leg massage unit 800 is in contact with the ground when the massage device 500 is tilted, and control the length of the leg massage unit 800 so that it is always in contact with the ground.

[0243] According to one embodiment, a contact roller portion 890 that can contact the ground is provided in the leg massage portion 800, and a sensor portion for sensing whether the leg massage portion 800 is in contact with the ground may be provided in the contact roller portion 890. The sensor portion includes a proximity sensor for detecting whether it is in contact with the ground, or additionally or alternatively, it may include a rotation sensor for sensing the rotation angle of the contact roller portion 890 to detect whether it is in contact with the ground.

[0244] Figure 13 This is a side view of a massage device before performing a standing action, according to an embodiment of the present invention. Figure 14 This is a side view of a massage device for performing standing actions according to an embodiment of the present invention. Figure 15 This is a perspective view of a massage device before performing a standing action, according to an embodiment of the present invention.

[0245] According to one embodiment, the damping member 610 is connected to the tilting frame 520 and may be connected to a subframe identical to the subframe provided in the tilting frame 520 that is connected to the tilt drive unit 600. According to one embodiment, the damping member 610 may be configured to support the tilting frame 520 of the body frame via a mechanism substantially the same as that of the tilt drive unit 600. See also... Figures 13 to 15 It can be confirmed that the damping member 610 is arranged on the same line as the tilt drive unit 600.

[0246] The damping member 610 supports the tilting frame 520 through a mechanism that is essentially the same as that of the tilting drive unit 600. Two damping members 610 are arranged on the left and right sides respectively with the tilting drive unit 600 as a reference, thereby assisting the tilting drive unit 600 in standing motion.

[0247] Reference Figure 15 The massage device 500 may include two damping members 610, namely a first damping member 610a and a second damping member 610b. The second damping member 610b, except that it is located on the opposite side of the first damping member 610a in the inclined frame 520, may have the same shape and arrangement as the first damping member 610a. The description of the first damping member 610a and the second damping member 610b can be applied to the above-described... Figures 5 to 12 Description of damping member 610. Unless otherwise stated, the description of damping member 610 can be applied equally to the first damping member 610a and the second damping member 610b.

[0248] According to one embodiment, the damping member 610 can be connected to the vertical frame in the inclined frame 520. (See also...) Figure 13 and Figure 14 A plate 5216 is formed on the third sub-frame 5213 of the vertical frame 521, and the other end of the damping member 610 can be connected to the plate 5216. The plate 5216 increases the configuration freedom of the damping member 610. According to one embodiment, the plate 5216 is welded and attached to the third sub-frame 5213, or it can be integrally formed with the third sub-frame 5213.

[0249] According to yet another embodiment, refer to Figure 15 The damping member 610 can be connected to a horizontal frame (e.g., horizontal frame 523) in the inclined frame 520. Here, the horizontal frame connecting the damping member 610 can be the rearmost horizontal frame 523 in the inclined frame 520.

[0250] According to one embodiment, one end of the damping member 610 may be connected to the lower base frame 512b, which is the same as one end of the tilt drive unit 600, and the other end of the damping member 610 may be connected to the same horizontal frame 523 as the horizontal frame 523 that connects the other end of the tilt drive unit 600.

[0251] When the damping member 610 is connected to the horizontal frame 523, the plate 5216 is welded to and attached to the horizontal frame 523, or it may be integrally formed with the horizontal frame 523. According to one embodiment, refer to Figure 15 Plate 5216 can be provided in the form of a clamp and connected to the other end of damping member 610. According to one embodiment, both the first damping member 610a and the second damping member 610b can be connected to the horizontal frame 523 and are respectively disposed adjacent to the first vertical frame 521 and the second vertical frame 522.

[0252] The technical concept of this utility model has been described above with reference to the accompanying drawings. However, this is only an exemplary description of the preferred embodiment of this utility model and does not limit the scope of this utility model. Furthermore, those skilled in the art should understand that various modifications and imitations can be made without departing from the technical concept of this utility model.

[0253] Furthermore, the structure and function of the massage device described in this manual can be extended and applied to various (wearable) health care devices that provide health care functions (e.g., massage function, biosignal measurement function, etc.). Therefore, the term "massage device" in this manual can be replaced with "(wearable) health care device" for further explanation.

Claims

1. A massage device, characterized in that, include: The base frame is in contact with the ground. The body frame is supported by the base frame. The tilting drive unit rotates the body frame relative to the base frame, and The damping member has one end connected to the body frame side and the other end connected to the base frame side.

2. The massage device according to claim 1, characterized in that, The body frame includes: The seat frame supports part of the user's body, and An inclined frame, connecting the base frame and the seat frame, is configured to tilt; The inclined frame includes: The first vertical frame is attached to one side of the body frame. The second vertical frame is joined to the other side of the body frame, and A horizontal frame connects the first vertical frame and the second vertical frame; One end of the tilting drive unit is connected to the horizontal frame and the other end is connected to the base frame.

3. The massage device according to claim 2, characterized in that, The tilting drive unit is connected to the horizontal frame in the middle region between the first vertical frame and the second vertical frame.

4. The massage device according to claim 2, characterized in that, The damping component includes: The first damping member is connected to the first vertical frame, and The second damping member is connected to the second vertical frame.

5. The massage device according to claim 4, characterized in that, The first damping member and the second damping member are symmetrically arranged relative to each other with respect to the center of the horizontal frame.

6. The massage device according to claim 1, characterized in that, The damping component includes a gas spring.

7. The massage device according to claim 1, characterized in that, One end of the damping member is connected to the first vertical frame, and the other end of the damping member is connected to the connecting rod frame.

8. The massage device according to claim 7, characterized in that, The base frame includes: The upper base frame supports the body frame, and The lower base frame supports the upper base frame and is in contact with the ground; One end of the linkage frame is connected to the upper base frame and the other end is connected to the guide portion formed in the lower base frame.

9. The massage device according to claim 8, characterized in that, One end of the linkage frame is connected in a manner that allows it to rotate relative to the upper base frame, while the other end is configured to slide linearly within a guide portion formed in the lower base frame, based on the upright movement of the massage device.

10. The massage device according to claim 8, characterized in that, The guide portion includes a guide rail extending in a direction parallel to the length direction of the lower base frame.

11. The massage device according to claim 1, characterized in that, The tilting drive unit includes: The tilting actuator generates driving force; and A tilting rod, connected to the tilting actuator, is adjustable in length.

12. The massage device according to claim 1, characterized in that, The body frame is configured to adjust the standing angle based on the standing motion of the massage device, with reference to the upright hinge portion formed on the base frame.

13. The massage device according to claim 2, characterized in that, It also includes a leg massage unit that is connected to the body frame and massages the user's legs. The leg massage section is configured to adjust its length based on the upright movement of the massage device.

14. The massage device according to claim 13, characterized in that, The leg massage section is equipped with contact rollers that can contact the ground. The contact roller is equipped with a sensor for sensing whether the leg massager is in contact with the ground.

15. The massage device according to claim 14, characterized in that, The massage device includes a control unit for controlling the angle of the tilting frame and the leg massage section. The control unit is configured to adjust the length of the leg massage unit based on information measured by the sensor unit.

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