Massage device providing swing operation and method for controlling massage device

Abstract

A massage device according to an embodiment of the present invention comprises: a body massage part which massages at least a portion of the body of a user; a first and a second leg massage part which are arranged on a lower part of the body massage part; a first horizontal drive part which horizontally rotates or moves the first leg massage part; a second horizontal drive part which horizontally rotates or moves the second leg massage part; and a control part which controls at least one of the first and the second horizontal drive part so that a swing operation, in which at least one of the first and the second leg massage part rotates or moves in a horizontal direction, is achieved.

Description

Massage device providing swing motion and method for controlling the massage device

[0001] The present invention relates to a massage device including a rotatable leg massage unit, and more specifically, to a massage device providing a swing motion for various motions or actions including horizontal rotation of the leg.

[0002] Massage is a medical auxiliary therapy that regulates the user's biological rhythm, improves blood circulation, and relieves fatigue by applying or inducing various forms of mechanical stimulation to the user's body, such as kneading, pressing, pulling, tapping, or inducing movement.

[0003] As eating habits, living patterns, areas of activity, and lifestyles change and interest in health and work-life balance increases, demand for massage devices or massage machines (hereinafter collectively referred to as “massage devices”) that provide muscle relaxation, tension relief, fatigue recovery, and stress relief is increasing.

[0004] Recently, massage devices have been developed to go beyond simply providing massage to the user's body and are now also implemented as electronic devices that provide various additional functions, convenience functions, and medical assistance functions.

[0005] However, these functions added to the massage device are merely functions that increase the user's convenience for using the massage device, such as interfacing, or assist in performing other activities other than massage more conveniently, and are somewhat unrelated to functions that provide direct stimulation or effects to the user's body, such as exercise or stretching.

[0006] Although some massage devices have a function to operate the arm massage part or the leg massage part, this function is used only for limited purposes, such as to increase the convenience or safety of the user when riding (sitting, etc.) on the massage device, or to adjust the length to fit the user's body size.

[0007] The present invention was created against the background described above, and its purpose is to provide a massage device that can provide a direct effect to a user's body by naturally inducing various motions or movements, including horizontal rotation (movement), to the user by utilizing the organic movement relationship of the leg massage part provided in the massage device.

[0008] Other objects and advantages of the present invention can be understood through the following description and will be more clearly understood through the embodiments of the present invention. Furthermore, the objects and advantages of the present invention can be realized through the configurations and combinations of configurations set forth in the claims.

[0009] The technical problems to be solved by the present invention are not limited to the problems described above, and other problems not mentioned will be clearly understood by those skilled in the art from the description of the invention described below.

[0010] In order to achieve the above object, a massage device according to one embodiment of the present invention may be configured to include a body massage unit that massages at least a portion of a user's body; first and second leg massage units arranged below the body massage unit; a first horizontal driving unit that rotates or moves the first leg massage unit in a horizontal direction; a second horizontal driving unit that rotates or moves the second leg massage unit in a horizontal direction; and a control unit that controls at least one of the first and second horizontal driving units so that a swing motion is performed, which is a motion in which at least one of the first and second leg massage units rotates or moves in a horizontal direction.

[0011] Here, the control unit of the present invention can control the rotation or movement directions of the first and second leg massage units to alternate so that the first and second leg massage units move away from each other in the horizontal direction and the first and second leg massage units move closer to each other are repeated.

[0012] According to an embodiment, the control unit of the present invention can control the position of one of the first and second leg massage units to be fixed when the swing motion is performed only in one of the first and second leg massage units.

[0013] Preferably, a massage device according to one embodiment of the present invention may further include a first vertical driving unit that rotates or moves the first leg massage unit in an up-and-down direction; and a second vertical driving unit that rotates or moves the second leg massage unit in an up-and-down direction.

[0014] In this case, the control unit of the present invention can control at least one of the first horizontal driving unit, the first vertical driving unit, the second horizontal driving unit, and the second vertical driving unit so that at least one of the first leg massage unit and the second leg massage unit rotates or moves in a three-dimensional space direction.

[0015] In addition, the control unit of the present invention can control the horizontal outer rotation or movement and the upward rotation or movement of the first or second leg massage unit to be linked, or can control the horizontal inner rotation or movement and the downward rotation or movement of the first or second leg massage unit to be linked.

[0016] According to an embodiment, a massage device according to one embodiment of the present invention may further include a detection sensor that detects an operating force applied by a leg portion of the user accommodated in at least one of the first and second leg massage parts.

[0017] In this case, the control unit of the present invention can control the swing motion to be performed in a direction corresponding to the direction in which the operating force is applied.

[0018] In addition, the control unit of the present invention can control the swing motion to be performed only when the operating force is equal to or greater than the first reference value.

[0019] Furthermore, the control unit of the present invention may be configured to determine the rotation or movement speed of at least one of the first and second leg massage units based on the magnitude of the operating force.

[0020] According to an embodiment, a massage device according to one embodiment of the present invention may further include a first length adjusting unit for adjusting the length of the first leg massage unit; and a second length adjusting unit for adjusting the length of the second leg massage unit.

[0021] In this case, the control unit of the present invention can control the horizontal outer rotation or movement of the first or second leg massage unit and the length extension of the first or second leg massage unit to be linked, or can control the horizontal inner rotation or movement of the first or second leg massage unit and the length reduction of the first or second leg massage unit to be linked.

[0022] Preferably, the range of rotation or movement of at least one of the first and second leg massage parts in the horizontal direction can be variably set by at least one of user information, user body information, and user selection information.

[0023] In addition, the control unit of the present invention may be configured to generate counting information using information on the number of times the rotation or movement directions of the first and second leg massage units alternate.

[0024] According to an embodiment, the control unit of the present invention can control to output guidance information that guides to apply force in a specific direction, and control to perform the swing motion in a direction opposite to the specific direction.

[0025] In this case, the control unit of the present invention may be configured to control at least one of the first and second horizontal driving units so that a stopping operation in which the rotation or movement of at least one of the first and second leg massage units is stopped for a reference time is performed at least once during the swinging operation.

[0026] According to an embodiment of the present invention, a massage device may further include a body actuator that changes the position or posture of the body massage unit. In this case, the control unit of the present invention may control the body actuator so that a reclining motion in which the body massage unit tilts backwards precedes the swing motion.

[0027] According to an embodiment, a massage device according to one embodiment of the present invention may further include at least one of a first leg air cell provided in the first leg massage section and a second leg air cell provided in the second leg massage section. In this case, the control section of the present invention may control the expansion or contraction of at least one of the first and second leg air cells to be linked to the swing motion.

[0028] In addition, the control unit of the present invention can control the horizontal outward rotation or movement of the first or second leg massage unit and the expansion of the first or second leg air cell to be linked, or can control the horizontal inward rotation or movement of the first or second leg massage unit and the contraction of the first or second leg air cell to be linked.

[0029] According to an embodiment, a massage device according to one embodiment of the present invention may further include a first vertical driving unit that rotates or moves the first leg massage unit in a vertical direction; a second vertical driving unit that rotates or moves the second leg massage unit in a vertical direction; a first length adjusting unit that adjusts the length of the first leg massage unit; and a second length adjusting unit that adjusts the length of the second leg massage unit.

[0030] In this case, the control unit of the present invention can control the first and second leg massage units to alternately rotate or move in different up and down directions while the first and second leg massage units rotate or move outward, and control the length of the leg massage unit that rotates or moves upward among the first and second leg massage units to decrease and control the length of the leg massage unit that rotates or moves downward to increase.

[0031] According to an embodiment of the present invention, a massage device may further include an air cell provided at a location corresponding to the user's waist or pelvic area. In this case, the control unit of the present invention may control the air cell to expand so that the user's body is physically supported when the first and second leg massage units rotate or move in the same direction.

[0032] A method for controlling a massage device according to another aspect of the present invention is a method for controlling a massage device including first and second leg massage parts arranged at the lower part of a body massager, a first horizontal driving part for horizontally rotating or moving the first leg massage part, and a second horizontal driving part for horizontally rotating or moving the second leg massage part, wherein the method may be configured to include a control step for controlling at least one of the first and second horizontal driving parts so that a swing motion, which is a motion in which at least one of the first and second leg massage parts rotates or moves horizontally, is performed.

[0033] According to one embodiment of the present invention, through one or more combinational drives for horizontal rotation (movement), vertical rotation (movement) and length adjustment of the leg massage part, motion or movement corresponding to the actual behavioral characteristics of the human body structure according to lower body exercise, stretching, etc. can be more effectively induced.

[0034] According to one embodiment of the present invention, in addition to providing massage, which is a unique function of the massage device, it can also provide practical effects for rehabilitation, exercise, stretching, etc. targeting the legs, etc., thereby further increasing the usability and effectiveness of the massage device.

[0035] According to one embodiment of the present invention, the legs and the like can be driven in various directions in a three-dimensional space, including horizontal and vertical directions, as well as combinations thereof, thereby further enhancing the effects of rehabilitation, exercise, stretching, etc., and implementing higher user orientation.

[0036] According to one embodiment of the present invention, by controlling the expansion and contraction of air cells provided in the leg massage area, waist / pelvis, etc. in a time-series manner, the user's body can be firmly supported or the support can be released, thereby making it possible to further concentrate the effects of exercise, etc., and effectively prevent injuries, etc.

[0037] The following drawings attached to this specification illustrate preferred embodiments of the present invention, and together with the detailed description of the invention described below, serve to more effectively understand the technical idea of ​​the present invention, and therefore, the present invention should not be interpreted as being limited to the matters described in these drawings.

[0038] Figure 1 is a drawing illustrating a massage device according to embodiments of the present invention;

[0039] Figure 2 is a drawing for explaining components of a massage device according to embodiments of the present invention;

[0040] FIG. 3 is a drawing showing a state of a massage device excluding a sheet according to one embodiment of the present invention;

[0041] Figure 4 is a perspective view showing a state in which a leg massage unit according to one embodiment of the present invention is coupled to a frame unit.

[0042] FIG. 5 is a perspective view showing a leg base part connected to a rotating frame part and an angle adjustment part connected to a seat frame according to one embodiment of the present invention.

[0043] Fig. 6 is an enlarged rear perspective view of part A of Fig. 5.

[0044] Figure 7 is a perspective view showing a state in which a rotating frame part, a leg drive part, and an angle adjustment part are combined in a seat frame according to one embodiment of the present invention.

[0045] FIG. 8 is a drawing showing a seat frame and a rotating frame according to one embodiment of the present invention.

[0046] Figure 9 is an enlarged view of part B of Figure 7.

[0047] Fig. 10 is a cross-sectional view taken along line Ⅰ-Ⅰ` of Fig. 9.

[0048] FIG. 11 is a drawing showing a state in which a rotating frame part according to one embodiment of the present invention is rotated in FIG. 10;

[0049] Fig. 12 is a cross-sectional view taken along line Ⅱ-Ⅱ` of Fig. 9.

[0050] FIG. 13 is a drawing showing a bridge drive unit according to one embodiment of the present invention;

[0051] FIG. 14 is a plan view showing a leg massage unit coupled to a leg connecting frame according to one embodiment of the present invention;

[0052] Fig. 15 is a drawing showing a state in which the leg massage part in Fig. 7 is rotated relative to the seat frame.

[0053] Fig. 16 is a drawing explaining the rotational motion of the leg massage unit according to one embodiment of the present invention.

[0054] Fig. 17 is a perspective view showing a connecting device of a leg massage unit of a massage device according to another embodiment of the present invention;

[0055] Fig. 18 is a side view showing a connecting device of a leg massage unit of a massage device according to another embodiment of the present invention;

[0056] FIG. 19 is a drawing for explaining a swing driving unit of a swing control unit according to another embodiment of the present invention.

[0057] Fig. 20 is a perspective view of a leg angle adjustment unit according to another embodiment of the present invention.

[0058] Fig. 21 is a perspective view showing a part of the housing cut away from the gear box of the leg angle adjustment unit shown in Fig. 20.

[0059] FIG. 22 is a drawing showing a state in which a leg massage part is rotated upward by a leg angle adjustment part in a massage device according to one embodiment of the present invention.

[0060] FIG. 23 is a drawing for explaining the operation of the leg massage part by the leg massage part connecting device of the massage device according to one embodiment of the present invention.

[0061] Figures 24 to 26 are block diagrams showing the detailed configuration of a massage device according to one embodiment of the present invention.

[0062] Figure 27 is a flowchart illustrating a processing process according to one embodiment of the present invention.

[0063] Figure 28 is a flowchart explaining a processing process according to one embodiment of the present invention that implements a swing motion.

[0064] Figure 29 is a flowchart explaining a processing process of the first mode according to one embodiment of the present invention.

[0065] Figure 30 is a flowchart explaining a processing process of a second mode according to one embodiment of the present invention.

[0066] Figure 31 is a flowchart illustrating a processing process according to one embodiment of the present invention utilizing operating power.

[0067] Figure 32 is a drawing explaining a processing process according to one embodiment of the present invention using reverse driving.

[0068] Figure 33 is a drawing explaining a processing process in which a third mode is performed according to one embodiment of the present invention.

[0069] In order to achieve the above object, a massage device according to one embodiment of the present invention may be configured to include a body massage unit that massages at least a portion of a user's body; first and second leg massage units arranged below the body massage unit; a first horizontal driving unit that rotates or moves the first leg massage unit in a horizontal direction; a second horizontal driving unit that rotates or moves the second leg massage unit in a horizontal direction; and a control unit that controls at least one of the first and second horizontal driving units so that a swing motion is performed, which is a motion in which at least one of the first and second leg massage units rotates or moves in a horizontal direction.

[0070] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Prior to this, it should be noted that the terms and words used in this specification and claims should not be construed as limited to their conventional or dictionary meanings. Based on the principle that the inventor can appropriately define the concepts of terms to best explain his or her invention, they should be interpreted in a way that conforms to the technical spirit of the present invention.

[0071] Therefore, the embodiments described in this specification and the configurations illustrated in the drawings are only the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention. Therefore, it should be understood that there may be various equivalents and modified examples that can replace them at the time of filing this application.

[0072] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but there may also be other components in between.

[0073] Conversely, when a component is said to be "directly connected" or "directly connected" to another component, this should be understood as meaning that there are no intervening components. Other expressions used to describe relationships between components should also be interpreted in the same way.

[0074] The terms used in this specification are only used to describe specific embodiments and are not intended to limit the present invention, and singular expressions include plural expressions unless the context clearly indicates otherwise.

[0075] As used herein, the terms "comprise" or "have" imply the presence of a feature, number, step, operation, component, part, or combination thereof. Therefore, it should be understood that these terms do not exclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0076] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and shall not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0077] In this specification, an actuator refers to a component capable of providing driving force. For example, an actuator may include, but is not limited to, a motor, a linear motor, an electric motor, a DC motor, an AC motor, a linear actuator, an electric actuator, and the like.

[0078]

[0079] Hereinafter, the basic embodiment of the present invention and the driving mechanism, etc. will be described in detail first, and the embodiment of the present invention that provides a swing motion, etc. will be described in detail later.

[0080] With regard to the description of the basic embodiment and driving mechanism of the present invention, first, one embodiment and driving mechanism of the present invention will be described with reference to FIGS. 1 to 16, and another embodiment of the driving mechanism for implementing vertical rotation and horizontal rotation of the leg massage part will be described later with reference to FIGS. 17 to 23.

[0081] Figures 1 and 2 are drawings showing one embodiment of a massage device (100) according to the present invention. The massage device (100) according to one embodiment of the present invention forms an area for accommodating at least a portion of a user's body and may include a body massage unit (1000) for massaging the user's body, an arm massage unit (3000) for massaging the user's arms, and a leg massage unit (2000) for massaging the user's legs.

[0082] The body massage unit (1000) can provide massage to at least a part of the user's body.

[0083] Referring to FIG. 2, a massage device (100) according to one embodiment of the present invention, specifically a body massage unit (1000), may include a massage module (1700) that provides a massage function to at least a part of a user's body, an audio output module (1500) that provides an audio output of any form to the user, a frame unit (1100) that constitutes the skeleton of the body massage unit (1000), and a user input unit (1400) that receives an input of any form from the user.

[0084] The configurations included in the body massage unit (1000) described above are merely exemplary embodiments, and the body massage unit (1000) may include various configurations in addition to the configurations described above.

[0085] In addition, the shape and structure of the massage device (100) illustrated in FIG. 1 are merely exemplary, and various forms of massage devices (100) may also be included within the scope of the present invention, as long as they do not exceed the scope of rights defined by the claims of the present invention.

[0086] The body massage unit (1000) can form a space of any shape to accommodate a user. The body massage unit (1000) can have a space of a shape corresponding to the shape of the user's body. For example, as illustrated in FIG. 1, the body massage unit (1000) can be implemented as a seating type that can accommodate the user's entire body or a portion of the body.

[0087] The part of the body massage unit (1000) that comes into contact with the ground may include any material to increase friction or any member to increase friction (e.g., an anti-slip pad, etc.), and may include wheels to enhance the mobility of the massage device (100).

[0088] At least a portion of the body massage unit (1000) can slide. For example, when the body massage unit (1000) begins a massage, at least a portion of the body massage unit (1000) can slide forward. Additionally, the body massage unit (1000) can tilt backward. As a result, the body massage unit (1000) can provide a massage while tilted backward.

[0089] According to one embodiment of the present invention, the massage device (100) may include at least one air cell. The air cell may be positioned on the user's shoulder area, pelvic area, arm massage part (3000), leg massage part (2000), etc., but is not limited thereto and may be positioned in various parts of the massage device (100).

[0090] The massage device (100) may include an air supply unit, which may inflate the air cell by supplying air to the air cell. The air supply unit may be located inside the body massage unit (1000) or in the leg massage unit (2000). Additionally, the air supply unit may be located outside the massage device (100).

[0091] The leg massage unit (2000) can provide a leg massage to the user. For example, the leg massage unit (2000) can include a calf massage unit that massages the user's calves and / or a foot massage unit that massages the user's feet.

[0092] The leg massage unit (2000) may be adjustable in length depending on the user's physical characteristics. For example, if a tall user uses the massage device (100), the length of the leg massage unit (2000) needs to be increased due to the user's long calf. Furthermore, if a short user uses the massage device (100), the length of the leg massage unit (2000) needs to be decreased due to the user's short calf. Accordingly, the leg massage unit (2000) can provide a leg massage tailored to the user's height.

[0093] Referring to FIG. 1, the leg massage unit (2000) may include a plurality of leg massage main bodies (2300A, 2300B) to accommodate the user's left leg and right leg respectively and massage each leg, and the plurality of leg massage main bodies (2300A, 2300B) may be driven independently.

[0094] Referring to FIG. 2, a massage module (1700) may be provided inside the body massage unit (1000) to provide any type of mechanical stimulation to a user accommodated in the body massage unit (1000). The massage module (1700) may move along a frame unit (1100) provided inside the body massage unit (1000) illustrated in FIG. 1.

[0095] For example, a rack gear (1112) may be provided in the frame portion (1100) of the body massage portion (1000), and referring to FIG. 1, a massage module (1700) may move along the rack gear (1112) to provide mechanical stimulation to various parts of the user's body. The massage module (1700) may include a ball massage unit and / or a roller massage unit, but is not limited thereto.

[0096] Referring to FIG. 4, the frame portion (1100) constitutes the skeleton of the internal structure of the body massage portion (1000) and may be implemented with a metal material and / or a plastic material. For example, the frame portion (1100) may be implemented with iron, an alloy, steel, etc., but is not limited thereto and may be implemented with various hard materials.

[0097] Referring to FIGS. 2 and 5, according to one embodiment of the present invention, the massage device (100) may include an audio output module (1500). The audio output module (1500) may be provided in various locations.

[0098] For example, the audio output module (1500) may include a plurality of output units, such as, but not limited to, an upper audio output unit positioned on the upper portion of the seat portion (1000a) that comes into contact with a user sitting on the massage device (100), a front audio output unit attached to the front end of the left and right arm massage portions (3000) of the seat portion (1000a), and / or a rear audio output unit attached to the rear end of the arm massage portion (3000).

[0099] The seat portion (1000a) provided in the massage device (100) according to one embodiment of the present invention may include an upper body support portion that supports the user's upper body and a lower body support portion that supports the user's lower body.

[0100] The upper body support part is in contact with the user's upper body, specifically from the head to the back, and supports the user's body, and the lower body support part is in contact with the area below the upper body support part, such as the buttocks and thighs, and supports the user's body.

[0101] According to one embodiment of the present invention, a user can control a massage device (100) using a massage device control device (CD). The massage device control device (CD) can be connected to the massage device (100) via wired communication and / or wireless communication.

[0102] The massage device control device (CD) may include, but is not limited to, a remote controller, a cellular phone, a personal digital assistant (PDA), and the like, and may include various electronic devices that can be connected to the massage device (100) via wired and / or wireless communication.

[0103] FIG. 2 is a drawing for explaining components of a massage device according to one embodiment of the present invention, and FIG. 3 is a drawing illustrating a frame part to which a leg massage part according to embodiments of the present invention is combined.

[0104] Referring to FIG. 2, a massage device (100) according to one embodiment of the present invention may include at least one of a frame unit (1100), a control unit (1200), a storage unit (1300), a user input unit (1400), an audio output module (1500), a network connection unit (1600), and a massage module (1700).

[0105] The frame part (1100) may be a configuration that forms the skeleton of the body massage part (1000).

[0106] According to one embodiment of the present invention, the frame portion (1100) may include a body frame having a massage module (1700) and a base frame (1130) supporting the body frame.

[0107] The body frame (drawing symbol not set) may include a back frame (1110) that forms the skeleton of the user's upper body receiving part and a seat frame (1120) that forms the skeleton of the seat part.

[0108] At least a portion of the body frame may be equipped with a rack gear (1112). The rack gear (1112) serves as a member for guiding the movement of the body massage module (1700) in the up-and-down direction (based on FIG. 1), and may include a plurality of ribs and a plurality of ridges.

[0109] According to one embodiment of the present invention, the rack gear (1112) may be provided in a form facing each other on both sides of the body frame, specifically, the back frame (1110) and the seat frame (1120), and the body massage module (1700) may move along the rack gear (1112).

[0110] For example, the body massage module (1700) may include a gear that meshes with the rack gear (1112), and the body massage module (1700) may move upward and / or downward by rotating the gear by an actuator provided in the body massage module (1700).

[0111] The rack gear (1112) may be made of metal and / or plastic. For example, the rack gear (1112) may be made of, but is not limited to, iron, steel, alloy, reinforced plastic, melamine resin, phenol resin, etc.

[0112] Body frames can be implemented in various shapes. For example, body frames can be classified into S-frames, L-frames, S&L frames, and double S&L frames, depending on their shape, but are not limited thereto.

[0113] An S-frame means a frame in which at least a portion of the body frame includes a curved shape like an "S". An L-frame means a frame in which at least a portion of the body frame includes a curved shape like an "L". An S&L frame means a frame in which both a curved shape like an "S" and a curved shape like an "L" are included. A double S&L frame means a frame in which both a curved shape like an "L" and two portions of a curved shape like an "S" are included.

[0114] Referring to FIG. 4, the seat frame (1120) forms the skeleton of the seat portion on which a user can sit, and can be connected to the back frame (1110) and the base frame (1130).

[0115] Referring to FIG. 8, a seat frame (1120) according to one embodiment of the present invention may include a leg connection frame (1121). The leg connection frame (1121) may be provided at the front end of the seat frame (1120).

[0116] The bridge connecting frame (1121) may be formed integrally with the seat frame (1120) or may be manufactured as a separate member and then connected to the seat frame (1120).

[0117]

[0118] *If the leg connecting frame (1121) is formed integrally with the seat frame (1120), the leg connecting frame (1121) may mean a component of the seat frame (1120).

[0119] Referring to FIG. 5, a leg massage unit (2000), specifically a rotation frame unit (2100) and a leg driving unit (2500), which will be described later, can be arranged in a leg connection frame (1121) according to one embodiment of the present invention.

[0120] Referring to FIG. 8, a plurality of leg connecting frames (1121) according to one embodiment of the present invention may be provided, and the plurality of leg connecting frames (1121) may be spaced apart from each other by a preset distance in the height direction (up-down direction based on FIG. 8).

[0121] Referring to FIG. 8, the rotating frame portion (2100A, 2100B) can be rotatably connected to a plurality of leg connecting frames 1121). However, this is not limited to this, and within the technical concept of the rotating frame portion (2100A, 2100B) being rotatably connected, the leg connecting frames (1121) can be formed singly or in three or more forms, and various modifications can be implemented.

[0122] A pair of rotation frame parts (2100A, 2100B) may be arranged at the front of the leg connecting frame (1121). For example, one rotation frame part (2100A) of the pair of leg rotating frame parts (2100A, 2100B) may be arranged at the front left side of the leg connecting frame (1121), and the other rotation frame part (2100B) may be arranged at the front right side of the leg connecting frame (1121).

[0123] Referring to FIG. 4, a pair of leg massage bodies (2300A, 2300B) can be hinge-joined to a pair of rotating frame parts (2100A, 2100B).

[0124] A leg drive unit (2500) is arranged in the leg connecting frame (1121), and power is generated in the leg drive unit (2500) and transmitted to the rotation frame unit (2100), so that the rotation frame unit (2100) can rotate relative to the leg connecting frame (1121).

[0125] Referring to FIG. 3 and FIG. 9, a pair of rotating frame parts (2100A, 2100B) to which a pair of leg massage main bodies (2300A, 2300B) are connected rotate clockwise and / or counterclockwise based on a rotation center axis (AX1) preset on a leg connection frame (1121), thereby causing the legs of a user seated on the massage device (100) to rotate internally / abductively (horizontal rotation toward the inside / horizontal rotation toward the outside), thereby providing the user with effects such as leg exercise or stretching.

[0126] Details related to the rotating frame (2100) and the leg drive unit (2500) will be explained in detail later.

[0127] Referring to FIGS. 3 and 4, a pair of leg massage main bodies (2300A, 2300B) can rotate in opposite directions based on the center of the frame portion (1100), specifically, the leg connection frame (1121).

[0128] Specifically, a pair of leg massage main bodies (2300A, 2300B) accommodate the user's left and right legs, respectively, and can be hinge-connected to a pair of rotating frame parts (2100A, 2100B), respectively.

[0129] A pair of rotating frame parts (2100A, 2100B) are rotatably connected to a leg connecting frame (1121) and can rotate clockwise and / or counterclockwise around their respective rotational centers.

[0130] According to one embodiment of the present invention, a pair of rotating frame parts (2100A, 2100B) are connected to a leg driving part (2500), and the rotating frame part (2100) and the leg massage body (2300) coupled to the rotating frame part (2100) can rotate by receiving power generated from the leg driving part (2500).

[0131] Referring to FIG. 3, a pair of rotating frame parts (2100A, 2100B) can rotate in opposite directions.

[0132] That is, when the rotating frame part (2100A) coupled with one leg massage body (2300A) rotates clockwise (or counterclockwise), the rotating frame part (2100B) coupled with another leg massage body (2300B) can rotate counterclockwise (or clockwise).

[0133] The side of the housing (drawing symbol not set) forming the exterior of the massage device (100) illustrated in FIG. 1 is depicted as restricting the movement of the leg massage part (2000), specifically the leg massage main body (2300A, 2300B), in a direction in which they are spaced apart from each other.

[0134] However, the housing of the massage device of Fig. 1 is for the purpose of helping understanding, and the side of the housing may be formed in a structure that opens and closes to enable the rotation frame part (2100) and the leg massage body (2300) hinged to the rotation frame part (2100) to rotate outward and / or the internal rotation movement to rotate inward based on the center of the seat frame (1120) by receiving power from the leg drive part (2500), or it may be opened.

[0135] The leg massage department (2000) will be explained in detail later.

[0136] Referring to FIG. 4, the base frame (1130) refers to a portion of the frame section (1100) that supports the body frame and is in contact with the ground. The base frame (1130) may include a base upper frame (drawing symbol not set) and a base lower frame (drawing symbol not set).

[0137] The base upper frame can support the body frame, and the base lower frame can be in contact with the ground. In addition, the base upper frame can be positioned in contact with the base lower frame.

[0138] According to one embodiment of the present invention, the base upper frame can move along the base lower frame. For example, the base upper frame can slide forward and / or backward along the base lower frame. In this case, the body frame is connected to the base upper frame and can move along with the movement of the base upper frame.

[0139] For example, when the base upper frame moves forward, the body frame can also move forward, and when the base upper frame moves backward, the body frame can also move backward. This allows sliding movement of the body massage unit (1000).

[0140] The control unit (1200) can control the operation of the massage device (100). The control unit (1200) can be implemented with a single processor or multiple processors. If the control unit (1200) is implemented with multiple processors, at least some of the multiple processors can be physically separated from each other. Furthermore, the control unit (1200) is not limited thereto and can be implemented in various ways.

[0141] For example, the control unit (1200) may correspond to one or more processors. The processor may be implemented as an array of multiple logic gates, or as a combination of a general-purpose microprocessor and a memory storing a program executable on the microprocessor. Furthermore, those skilled in the art will appreciate that the present embodiment may be implemented using other types of hardware.

[0142] According to one embodiment of the present invention, the control unit (1200) can control the operation of the massage device (100).

[0143] For example, the massage device (100) may include a plurality of actuators, and the massage device (100) may control the operation of the massage device (100) by controlling the operation of the plurality of actuators. For example, the massage device (100) may include at least one of a massage module movement actuator, at least one actuator included in a massage module (1700), a back angle actuator, a leg angle actuator, a foot massage actuator, a leg length adjustment actuator, and a sliding actuator, and the control unit (1200) may control the operation of the massage device (100) by controlling these.

[0144] Specifically, the control unit (1200) can control the operation of the leg drive unit (2500), position adjustment unit (2700), angle adjustment unit (2710), and specifically, the angle adjustment drive unit (2715) to be described later.

[0145] The massage module movement actuator is an actuator that enables the massage module (1700) to move up and down, and the massage module (1700) can move along the rack gear by the operation of the massage module movement actuator.

[0146] The back angle actuator is an actuator that adjusts the angle of the part of the massage device (100) that the user's back comes into contact with, and the back angle of the massage device (100) can be adjusted by the operation of the back angle actuator.

[0147] The leg angle actuator is an actuator that adjusts the angle of the leg massage part (2000) of the massage device (100), and the angle between the leg massage part (2000) and the body massage part (1000) can be adjusted by the operation of the leg angle actuator.

[0148] The foot massage actuator refers to an actuator that operates a foot massage module included in a leg massage unit (2000). By utilizing the foot massage actuator, the massage device (100) can provide a foot massage to a user.

[0149] The massage module (1700) may include at least one actuator, and the control unit (1200) may provide various massage movements by operating the at least one actuator. For example, the control unit (1200) may provide tapping massage, kneading massage, etc. by operating the at least one actuator included in the massage module (1700), but is not limited thereto and may provide various massage movements.

[0150] The leg length adjustment actuator represents an actuator that adjusts the length of the leg massage unit (2000). For example, the control unit (1200) can utilize the leg length adjustment actuator to adjust the length of the leg massage unit (2000) to suit the user, thereby providing the user with a massage suited to their body type.

[0151] The sliding actuator enables the sliding motion of the massage device (100). For example, by the motion of the sliding actuator, the horizontal base upper frame can move forward and / or backward, and as a result, the body frame connected to the horizontal base upper frame can also move forward and / or backward.

[0152] The storage unit (1300) can store various information related to the massage device (100). For example, the storage unit (1300) can include massage control information and personal authentication information, but is not limited thereto.

[0153] The storage unit (1300) may be implemented using a non-volatile storage medium capable of persistently storing arbitrary data. For example, the storage unit (1300) may include, but is not limited to, storage devices based on disks, optical disks, and magneto-optical storage devices, as well as flash memory and / or battery-backed memory.

[0154] In addition, the storage unit (1300) may include memory. The memory may refer to a volatile storage device in which stored information is instantly erased when power is turned off, such as a random access memory (RAM) such as a dynamic random access memory (DRAM) or a static random access memory (SRAM), which is the main storage device directly accessed by the processor, but is not limited thereto. Such memory may be operated by the control unit (1200).

[0155] The user input unit (1400) can receive commands related to the control of the operation of the massage device (100) from the user, and the user input unit (1400) can be implemented in various forms. For example, the user input unit (1400) can be provided in the body massage unit (1000), the leg massage unit (2000), and the arm massage unit (3000), but is not limited thereto.

[0156] The massage device (100) can obtain various commands from the user through the user input unit (1400). For example, the massage device (100) can receive any command related to selection of a massage module, selection of a massage mode, selection of a massage intensity, selection of a massage time, selection of a massage area, selection of a position and operation of a body massage unit (1000), selection of turning the power of the massage device (100) on and off, selection of whether or not to operate a heating function, selection related to sound source playback, etc., but is not limited thereto.

[0157] As an optional embodiment, the user input unit (1400) may be provided with hot key type buttons and / or selection buttons for selecting a direction, canceling, executing an input, etc., according to preset user-defined functions or self-preset functions.

[0158] The user input unit (1400) may be implemented as a key pad, a dome switch, a touch pad (static / capacitive), a jog wheel, a jog switch, etc., but is not limited thereto. In addition, the user input unit (1400) may obtain commands through the user's speech based on voice recognition technology.

[0159] According to one embodiment of the present invention, the user input unit (1400) may include a display for displaying the operating status of the massage device (100) and / or the current status of the user. In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, and a 3D display, but is not limited thereto.

[0160] The audio output module (1500) can provide any form of audio output to the user. For example, the audio output module (1500) can provide brain stimulation to the user by outputting sound sources and / or binaural beats optimized for the massage pattern provided by the massage device (100). The audio output module (1500) can output audio signals received via a network (not shown) or stored in an internal / external storage medium (not shown).

[0161] For example, the audio output module (1500) can output a sound source according to the control of the user terminal through a network connection (e.g., Bluetooth connection, etc.) with the user terminal. In addition, the audio output module (1500) can output an audio signal of any form generated in relation to the operation of the massage device (100).

[0162] A massage device (100) according to one embodiment of the present invention may include a network connection unit (1600). The network connection unit (1600) may communicate with a module within the massage device (100), an external massage device (100), and / or a user terminal through any type of network.

[0163] The network connection unit (1600) may include a wired / wireless connection module for network connection. Wireless connection technologies that may be used include, for example, WLAN (wireless LAN) (Wi-Fi), Wibro (wireless broadband), Wimax (world interoperability for microwave access), and HSDPA (high speed downlink packet access).

[0164] For example, XDSL (digital subscriber line), FTTH (fibers to the home), PLC (power line communication), etc. can be used as wired connection technology. In addition, the network connection unit (1600) can include a short-range communication module and transmit and receive data with any device / terminal located in a short range. For example, Bluetooth, RFID (radio frequency identification), infrared communication (infrared data association, IrDA), UWB (ultra-wideband), ZigBee, etc. can be used as short-range communication technology, but are not limited thereto.

[0165] As described above, the massage device (100) according to one embodiment of the present invention may include a massage module (1700). That is, the massage module (1700) is a configuration that provides mechanical stimulation to a user, and the massage module (1700) can move along the frame portion (1100).

[0166] A massage device (100) according to one embodiment of the present invention may include a frame portion (1100). Referring to FIGS. 1 and 4, as described above, the frame portion (1100) may provide a path along which the massage module (1700) may move.

[0167] The control unit (1200) can provide a massage by controlling the operation of the massage module (1700) and applying a mechanical stimulus to the user.

[0168] The control unit (1200) can move the massage module (1700) in the directions of the X-axis, Y-axis, and Z-axis. The control unit (1200) can move the massage ball forward or backward along the X-axis, Y-axis, and Z-axis. The control unit (1200) can rotate the massage ball around the X-axis, Y-axis, and Z-axis.

[0169] A massage device (100) according to one embodiment of the present invention may include a sensor unit (1800). At this time, the sensor unit (1800) may include at least one sensor. For example, the sensor unit (1800) may include a touch sensor, a pressure sensor, an infrared sensor, an LED sensor, a photo sensor, a hall sensor, an electrostatic sensor, etc., but is not limited thereto.

[0170] The sensor unit (1800) can be used to obtain various types of information. For example, the sensor unit (1800) can be used to recognize the user. That is, information on whether the user is seated, the user's body type, and any abnormalities in the user's body can be obtained. As another example, the sensor unit (1800) can be used to obtain biometric information. That is, fingerprint information, facial information, voice information, iris information, weight information, electrocardiogram information, body composition information, and the like can be obtained, but is not limited thereto and can include various types of biometric information.

[0171] As an optional embodiment, the massage device (100) can detect the contact area and / or contact location with the user through the sensor unit (1800).

[0172] Additionally, the massage device (100) can obtain the user's shoulder position information through the sensor unit (1800).

[0173] Additionally, the massage device (100) can provide a customized massage based on the acquired information. For example, when the massage device (100) provides a shoulder massage, the massage device (100) can recognize the user's shoulder position based on the information acquired through the sensor unit (1800) and provide the user with a shoulder massage based on the recognition result.

[0174] The leg massage unit (2000) may be configured to massage the user's legs. The leg massage unit (2000) may be provided with a leg receiving space for receiving the user's legs. Referring to FIG. 1, the leg massage unit (2000) may include a plurality of leg massage main bodies (2300A, 2300B), and the plurality of leg massage main bodies (2300A, 2300B) may be independently driven by receiving an electrical signal from the control unit (1200).

[0175] The leg massage unit (2000) may include at least one of an air cell, a calf massage module (not shown), and a foot massage unit (not shown).

[0176] The air cell may be configured to immobilize at least a portion of the user's body. The air cell included in the leg massage unit (2000) may be configured to receive air from a separately provided air supply unit, inflate, and immobilize at least a portion of the user's body.

[0177] The calf massage module (not shown) may be configured to massage the calf area of ​​the user's legs. As described above, the calf massage module may include, but is not limited to, a ball massage unit and / or a roller massage unit.

[0178] A foot massage unit (not shown) may be configured to massage a user's feet. The foot massage unit may include a foot massage module for massaging the user's feet. The foot massage module may include, but is not limited to, a ball massage unit and / or a roller massage unit.

[0179] The arm massage unit (3000) may include an arm insertion unit (3100) into which the user's arm can be inserted, and the user may receive an arm massage function by inserting the arm into the inner space of the arm insertion unit (3100).

[0180] Referring to FIGS. 3 to 15, a massage device (hereinafter referred to as a 'massage device') (100) having a leg internal / external rotation function according to one embodiment of the present invention may include a body massage unit (1000), a leg massage unit (2000), and an arm massage unit (3000).

[0181] A massage device (100) according to one embodiment of the present invention can provide various massage functions to suit the body types of various users (10) by adjusting the position of a leg massage unit (2000) that provides a massage function to the legs of a user (10), specifically, a leg massage body (2300) into which the legs of the user (10) are inserted.

[0182] The body massage section (1000) and arm massage section (3000) have been described above, and the leg massage section (2000) will be described in detail below.

[0183] Referring to FIGS. 3 to 5 and 7, a leg massage unit (2000) according to one embodiment of the present invention may include a rotating frame unit (2100), a leg massage body (2300), a leg driving unit (2500), and a position adjustment unit (2700).

[0184] Referring to FIGS. 4, 5, 7 to 9, and 10, a rotating frame part (2100) according to one embodiment of the present invention is rotatably connected to a leg connecting frame (1121), and a pair of them can be provided and connected to the leg connecting frame (1121).

[0185] A pair of leg massage main bodies (2300A, 2300B) that accommodate the left and right legs of the user (10) can be hinge-joined to a pair of rotating frame parts (2100A, 2100B).

[0186] Referring to FIGS. 7 to 9, a rotating frame part (2100) according to one embodiment of the present invention may include a rotating frame body (2110), a rotating shaft part (2130), a shaft housing (2140), a connecting member (2150), and a mounting cover (2170).

[0187] According to one embodiment of the present invention, a pair of rotating frame parts (2100) are provided, and can be placed on each side with respect to the center of the leg connecting frame (1121).

[0188] Referring to FIG. 8, a rotating frame body (2110) according to one embodiment of the present invention forms the exterior of a rotating frame portion (2100) and is capable of relative rotation with respect to a leg connecting frame (1121).

[0189] Referring to FIG. 8, the rotating frame body (2110) can be rotatably connected to the leg connection frame (1121) through the rotating shaft portion (2130) to be described later.

[0190] Referring to FIGS. 8 to 11, a rotating frame body (2110) according to one embodiment of the present invention can be connected to a moving part (2550) through a connecting member (2150) to be described later.

[0191] Accordingly, as the moving part (2550) moves by the power generated from the leg drive part (2500) to be described later, the rotating frame body (2110) can rotate clockwise and / or counterclockwise in the leg connection frame (1121) with respect to the rotation center axis (AX1) that is set in advance.

[0192] Referring to FIGS. 7 to 9, on both sides of the rotating frame body (2110) according to one embodiment of the present invention, a mounting portion (2111) may be formed in the shape of a groove so that a concentric ring (2140) to be described later may be mounted.

[0193] Referring to FIG. 5 and FIG. 8, a hinge shaft (not shown in the drawing) formed in a leg base portion (2310) can be rotatably inserted into the interior of a concentric ring (2140) mounted on a mounting portion (2111) according to one embodiment of the present invention.

[0194] According to one embodiment of the present invention, the concentric ring (2140) is fixed in position by being fastened to a mounting portion (2111) formed in the rotating frame body (2110) through a fastening member such as a bolt, and a hinge shaft formed in the leg massage body (2300), specifically the leg base portion (2310), rotates inside the concentric ring (2140), so that the leg massage body (2300) can perform a hinge movement with respect to the rotating frame body (2110).

[0195] As an optional embodiment, the pivoting member (2140) is rotatably mounted on a mounting portion (2111) formed on a rotating frame body (2110) without being fixed in position, and a hinge shaft formed on a leg massage body (2300), specifically a leg base portion (2310), is rotated on the mounting portion (2111) while being coupled with the pivoting member (2140), and the leg massage body (2300) is capable of hinge movement with respect to the rotating frame body (2110).

[0196] According to one embodiment of the present invention, the congratulatory sign (2140) is configured separately from the leg massage body (2300), but is not limited thereto. The congratulatory sign (2140) may be formed integrally with the leg massage body (2300), specifically, a hinge shaft formed in the leg base portion (2310), and may be rotatably arranged on the mounting portion (2111), and may be implemented in various modifications.

[0197] That is, in this case, the leg massage body (2300) can be mounted on the mounting portion (2111) formed on the rotating frame body (2110). The axial wedge (2140) according to one embodiment of the present invention can be formed of metal and / or plastic material.

[0198] Referring to FIGS. 7 and 8, a mounting cover (2170) to be described later can be coupled to a mounting portion (2111) formed on a rotating frame body (2110) according to one embodiment of the present invention.

[0199] Specifically, the mounting cover (2170) covers the axial bearing (2140) that is mounted on the mounting portion (2111) and can be coupled to the rotating frame body (2110).

[0200] Due to this, the congratulatory sign (2140) can be placed on the mounting portion (2111) while maintaining the rotational center axis, and the rotational center axis can be prevented from being displaced.

[0201] Referring to FIG. 8, in the present invention, the concentric ring (2140) is positionally fixed to a mounting portion (2111) formed on the rotating frame body (2110), and a mounting cover (2170) capable of covering the concentric ring (2140) is posted. However, this is exemplary and various modifications are possible, such as the mounting cover (2170) being excluded.

[0202] Referring to FIGS. 7 to 9, a rotating frame body (2110) according to one embodiment of the present invention may have a rotating shaft portion (2130) to be described later, specifically a shaft body (2131), inserted therein, and the longitudinal central axis of the shaft body (2131) may form a rotational central axis (AX1) of the rotating frame body (2110).

[0203] Referring to FIG. 9, the rotation center axis (AX1) of the rotation frame part (2100) for the bridge connecting frame (1121), specifically the rotation frame body (2110), can be positioned at a preset distance from the center of the rotation frame body (2110).

[0204] Specifically, the rotation center axis formed in each of a pair of rotation frame bodies (2110A, 2110B) may be formed to face outward from the center of each rotation frame body (2110A, 2110B).

[0205] That is, referring to FIG. 8, the rotation center axis (AX1) of the rotation frame body (2110) to which the leg massage body (2300A) into which the left leg of the user (10) is inserted is hinge-coupled can be formed at a position spaced apart from the center of the rotation frame body (2110) by a preset distance in the direction approaching the arm massage part (3000) into which the left arm of the user (10) is inserted.

[0206] Looking at this from another perspective, the rotation center axis of the rotating frame body (2110) into which the leg massage body (2300B) into which the user's (10's) right leg is inserted is hinge-coupled can be formed at a position spaced apart from the center of the rotating frame body (2110) by a preset distance in the direction approaching the arm massage part (3000) into which the user's (10's) right arm is inserted.

[0207] This allows the rotation center axis to be formed near the user's (10) buttocks, thereby effectively providing the user's (10) leg adduction and / or abduction function.

[0208] Referring to FIG. 8, at least one fastening hole (2110h) may be formed in the rotating frame body (2110) according to one embodiment of the present invention.

[0209] A rotating shaft portion (2130), specifically a shaft body (2131) to be described later, can be inserted into the rotating frame body (2110), and a fastening hole portion (2131h) formed in the shaft body (2131) and a fastening hole portion (2110h) formed in the rotating frame body (2110) can be connected.

[0210] Although not shown in the drawing, a shaft fastening member such as a bolt can penetrate the rotating frame portion (2100), specifically, the rotating frame body (2110) and the shaft body (2131) through the fastening hole portion (2110h, 2131h) formed in the shaft body (2131) to fasten the rotating frame body (2110) and the shaft body (2131).

[0211] According to one embodiment of the present invention, a plurality of shaft fastening members are provided, and the plurality of shaft fastening members can penetrate and fasten the rotating frame part (2100), specifically the rotating frame body (2110), and the shaft body (2131) at a plurality of points along the central axis in the longitudinal direction (up-down direction based on FIG. 8) of the shaft body (2131).

[0212] Referring to FIG. 8, a connecting hole (2113) may be formed in a rotating frame body (2110) according to one embodiment of the present invention.

[0213] The rotating frame body (2110) and the moving part (2550) can be connected by passing through the connecting member (2150) to be described later through the slit part (2551) formed in the connecting hole part (2113) and the moving part (2550).

[0214] As a result, the power generated from the leg drive unit (2500) is transmitted to the rotating frame body (2110) through the moving unit (2550), and the rotating frame body (2110) can rotate relative to the leg connection frame (1121).

[0215] As the rotating frame body (2110) rotates, the leg massage body (2300) hinge-connected to the rotating frame body (2110) rotates by a preset or variably set angle with respect to the leg connection frame (1121), thereby providing the user (10) with leg internal and / or external rotation exercise.

[0216] Referring to FIG. 14, in a rotating frame body (2110) according to one embodiment of the present invention, an extension portion (2115) may be formed to extend in an outward direction. Specifically, the extension portion (2115) may be formed on the bottom surface of the rotating frame body (2110).

[0217] Referring to FIG. 14, the extension (2115) can be positioned opposite the rotation center axis (AX1) for the leg connection frame (1121) based on the center of the rotation frame body (2110).

[0218] When the user (10) is seated on the massage device (100) and the front direction is defined as 'forward', the extension (2115) can be formed to protrude and extend toward the rear side of the rotating frame body (2110).

[0219] Referring to FIG. 9, the bridge drive unit (2500) to be described later may include a frame support unit (2595) that contacts and supports one side of the rotation frame unit (2100). The frame support unit (2595) may contact and support an extension unit (2115) that extends toward the rear side of the rotation frame unit (2100), specifically, the rotation frame main body (2110).

[0220] Since the extension part (2115) is formed to extend toward the rear side of the rotation frame body (2110), even if the rotation frame body (2110) rotates by a preset angle on the leg connection frame (1121), it can be supported by the frame support part (2595) through contact, thereby preventing the rotation frame part (2100) and the leg massage body (2300) from being biased to one side and applying excessive load.

[0221] Referring to FIGS. 8 to 10, a rotary shaft portion (2130) according to one embodiment of the present invention forms a rotational center axis (AX1) of a rotary frame body (2110), and can connect a leg connection frame (1121) and the rotary frame body (2110).

[0222] Referring to Fig. 8, a rotary shaft portion (2130) according to one embodiment of the present invention may include a shaft body (2131), a support member (2137), and a shaft fastening member (not shown in the drawing). The shaft body (2131) is formed to extend along a longitudinal central axis (AX1) and may be inserted through the rotary frame body (2110).

[0223] Referring to FIG. 8, a rotating frame body (2110) can be rotatably placed on a leg connecting frame (1121), and a shaft body (2131) can be inserted into the rotating frame body (2110) through a frame hole (1121h) formed on the leg connecting frame (1121).

[0224] The support member (2137) is open on both sides and can be formed into a cylindrical shape, and can be installed on the leg connection frame (1121) while surrounding the shaft body (2131).

[0225] That is, the support member (2137) can be placed between the shaft body (2131) and the leg connecting frame (1121).

[0226] Due to this, the support member (2137) maintains the central axis of the shaft body (2131) and has the effect of stably supporting the rotation of the shaft body (2131) and the rotation frame body (2110).

[0227] Referring to Fig. 8, the outer diameter of one end (upper end based on Fig. 8) of the support member (2137) can be formed relatively larger than the frame hole (1121h) formed in the leg connecting frame (1121).

[0228] Due to this, the support member (2137) can be stably positioned and fixed on the bridge connecting frame (1121), and has the effect of wrapping around the shaft body (2131) and stably supporting the rotation of the shaft body (2131).

[0229] Referring to FIGS. 8 and 9, a rotating frame body (2110) is placed between frame holes (1121h) formed in the upper and lower portions, specifically, in a region preset in a bridge connecting frame (1121) according to one embodiment of the present invention, and a shaft body (2131) can be inserted through the frame holes (1121h) and the rotating frame body (2110).

[0230] Referring to FIG. 8, a fastening hole (2131h) is formed in a direction perpendicular to the longitudinal central axis in the shaft body (2131), and the fastening hole (2131h) can be communicated with a fastening hole (2110h) formed in the rotating frame body (2110) into which the shaft body (2131) is inserted.

[0231] Accordingly, the shaft fastening member can be fastened by penetrating the fastening holes (2110h, 2131h) formed in the rotating frame body (2110) and the shaft body (2131), respectively, so that the shaft body (2131) and the rotating frame body (2110) can be fastened, and the rotating frame body (2110) can rotate relative to the leg connecting frame (1121) with the longitudinal central axis of the shaft body (2131) as the rotational central axis (AX1).

[0232] Referring to FIG. 9, when the rotation frame body (2110A) to which the leg massage body (2300A) that accommodates the left leg of the user (10) is hinge-coupled rotates counterclockwise (based on FIG. 9) around the rotation center axis (AX1), the massage device (100) can provide the leg abduction function to the user (10).

[0233] Conversely, when the rotating frame body (2110) to which the leg massage body (2300A) that accommodates the left leg of the user (10) is hinge-coupled rotates clockwise (based on FIG. 9) around the rotation center axis (AX1), the massage device (100) can provide the leg adduction function to the user (10).

[0234] Referring to FIG. 8, an extension portion (2132) having a relatively large diameter may be formed at one end (the upper end based on FIG. 8) of the shaft body (2131) according to one embodiment of the present invention.

[0235] Specifically, the outer diameter of the extension portion (2132) can be formed relatively larger than the inner diameter of the support member (2137) and the inner diameter of the frame hole portion (1121h) formed in the leg connecting frame (1121).

[0236] This prevents the shaft body (2131) from falling through the frame hole (1121h) formed in the leg connecting frame (1121) or the hole formed in the rotating frame body (2110), and has the effect of maintaining the rotational center axis of the rotating frame body (2110) with respect to the leg connecting frame (1121).

[0237] According to one embodiment of the present invention, the expansion portion (2132) is formed integrally with the shaft body (2131), and is formed to have a diameter that is relatively larger than that of a section other than the section where the expansion portion (2132) is formed. However, this is not limited to this, and various modifications are possible, such as forming a separate object such as an E-ring and being coupled to the shaft body (2131).

[0238] Referring to FIGS. 7 to 11, a connecting member (2150) according to one embodiment of the present invention connects a rotating frame body (2110) and a leg driving unit (2500), and can transmit power generated from the leg driving unit (2500) to the rotating frame body (2110).

[0239] According to one embodiment of the present invention, a connecting member (2150) is formed in a pin shape and can penetrate and connect the rotating frame body (2110) and the leg driving unit (2500), specifically the moving unit (2550).

[0240] However, it is not limited to this, and various modifications such as bolts can be implemented within the technical concept of connecting the moving part (2550) and the rotating frame body (2110) so that the rotating frame body (2110) can be moved and / or rotated as the moving part (2550) moves.

[0241] Referring to FIGS. 8 to 10, the connecting member (2150) can connect the rotating frame body (2110) and the moving part (2550) by passing through the connecting hole (2113) formed in the rotating frame body (2110) and the slit (2551) formed at a position overlapping the connecting hole (2113) on the moving part (2550).

[0242] Referring to Fig. 8, the diameter of one end (the upper end as shown in Fig. 8) of the connecting member (2150) can be formed relatively larger than the diameter of the connecting hole (2113) formed in the rotating frame body (2110). As a result, the connecting member (2150) can be hung over the rotating frame body (2110) without a separate fastening member, thereby stably connecting the rotating frame body (2110) and the moving member (2550).

[0243] Referring to FIGS. 9 and 10, a connecting member (2150) according to one embodiment of the present invention transmits linear power generated from a leg drive unit (2500) to a rotating frame body (2110) when the moving unit (2550) moves linearly, thereby converting the linear power into rotational power.

[0244] Referring to FIGS. 10 and 11, a connecting member (2150) according to one embodiment of the present invention may be spaced apart from a rotating shaft portion (2130), specifically a shaft body (2131). The shaft body (2131) is connected to a rotating frame body (2110), passes through a leg connecting frame (1121), and may form a rotational center axis (AX1) of the rotating frame portion (2100), specifically the rotating frame body (2110).

[0245] At this time, since the connecting member (2150) connecting the rotating frame body (2110) and the moving part (2550) is formed to extend along a central axis (AX2) different from the rotational central axis (AX1) of the rotating frame body (2110), there is an effect that the linear movement of the moving part (2550) can be converted into the rotational movement of the rotating frame body (2110).

[0246] That is, the moving part (2550) is moved linearly by the power generated from the leg drive part (2500), and the linear movement of the moving part (2550) is transmitted to the rotating frame body (2110) through the connecting member (2150), so that the rotating frame body (2110) can be rotated clockwise and / or counterclockwise with the longitudinal central axis of the shaft body (2131) as the rotational center axis.

[0247] As the rotating frame body (2110) rotates, the leg massage body (2300) hinge-connected to the rotating frame body (2110) rotates clockwise and / or counterclockwise with respect to the rotation center axis (AX1) of the rotating frame body (2110).

[0248] In other words, there is an effect in which the user (10) seated on the massage device (100) can perform an external rotation movement in which the legs are spread out to both sides with the center of the leg connection frame (1121) facing forward, or an internal rotation movement in which the legs are folded back again.

[0249] Referring to FIGS. 10 and 11, a connecting member (2150) according to one embodiment of the present invention is movable within a slit portion (2551) formed in a moving member (2550), and since a space in which the connecting member (2150) can move is formed within the slit portion (2551), there is an effect in which linear movement of the moving member (2550) can be converted into rotational movement of the rotating frame body (2110).

[0250] In relation to the above, the bridge drive unit (2500) will be described in detail later.

[0251] Referring to FIGS. 1, 3, 4, and 14, a leg massage body (2300) according to one embodiment of the present invention accommodates the leg of a user (10) and can be hinge-coupled to a rotating frame part (2100).

[0252] Specifically, a pair of leg massage main bodies (2300) are provided to accommodate the left and right legs of the user (10), respectively, and a pair of leg massage main bodies (2300A, 2300B) can be hinge-connected to a pair of rotating frame parts (2100A, 2100B), respectively.

[0253] A leg massage unit (2300) according to one embodiment of the present invention can provide a leg massage function to a user (10) and can include at least one of an air cell, a calf massage module (not shown), and a foot massage unit (not shown). As described above, a detailed description thereof will be omitted.

[0254] Referring to FIGS. 4 to 6 and 14, a leg massage body (2300) according to one embodiment of the present invention may include a leg base part (2310). The leg base part (2310) corresponds to a pair of rotating frame bodies (2110), and a pair may be provided.

[0255] Referring to FIG. 5, the bridge base portion (2310) can be hinge-coupled to the rotation frame portion (2100), specifically, the rotation frame body (2110).

[0256] Referring to FIG. 5, a bridge base portion (2310) according to one embodiment of the present invention can be connected to a rotating frame portion (2100) by surrounding a shaft housing (2140) that is mounted on a mounting portion (2111) formed on a rotating frame body (2110).

[0257] As an optional embodiment, when the axial bearing (2140) is fixed in position to a mounting portion (2111) formed in the rotating frame body (2110) through a fastening member (not shown in the drawing), the leg base portion (2310) surrounds the axial bearing (2140) and can rotate clockwise and / or counterclockwise based on a preset rotational center axis, specifically, a longitudinal center axis (AX4 in FIG. 5) of the axial bearing (2140).

[0258] As an optional embodiment, when the pivot shaft (2140) is fixed in position to the mounting portion (2111) formed in the rotating frame body (2110) through a fastening member (not shown in the drawing), a hinge shaft (not shown in the drawing) formed in the leg base portion (2310) can be inserted through the pivot shaft (2140).

[0259] The hinge shaft can be rotated clockwise and / or counterclockwise with respect to the rotation center axis (AX4) while inserted into the pivot housing (2140), and the leg base part (2310) and the leg massage body (2300) can be rotated relative to the rotation frame part (2100), specifically, the rotation frame body (2110).

[0260] As a result, power is transmitted from the position adjustment unit (2700) to be described later, specifically the angle adjustment unit (2710), so that the leg massage body (2300) moves in a hinge motion with respect to the rotation frame unit (2100), thereby having the effect of adjusting the leg angle of the user (10) seated on the massage device (100).

[0261] Although not shown in the drawing, when the axial bearing (2140) is positionally fixed to the mounting portion (2111) formed in the rotating frame body (2110) through a fastening member, the hinge shaft (not shown in the drawing) inserted through the axial bearing (2140) can be inserted to a position spaced apart from the fastening member penetrating the axial bearing (2140).

[0262] This prevents the fastening member and the hinge shaft from interfering with each other, and has the effect of allowing the hinge shaft formed in the leg base portion (2310) to stably rotate relative to the axial bearing (2140) that is fixed in position in the fixing portion (2111).

[0263] Referring to FIGS. 5 and 6, a contact frame (2311) may be formed on one side of a leg base portion (2310) according to one embodiment of the present invention. The contact frame (2311) may be formed on one side (rear side as of FIG. 5) of the leg base portion (2310) facing an angle adjustment portion (2710) to be described later.

[0264] The contact frame (2311) can be formed in a plate shape and can be in contact with the angle adjustment unit (2710), specifically the contact unit (2713).

[0265] By maintaining the contact frame (2311) in contact with the contact portion (2713), power is transmitted from the angle adjustment portion (2710), and the leg massage body (2300) has the effect of being able to hinge around a rotation center axis (AX4) that is preset with respect to the rotation frame portion (2100).

[0266] A leg massage unit (2300) according to one embodiment of the present invention may include at least one of an air cell, a calf massage module (not shown), and a foot massage unit (not shown). A detailed description thereof will be omitted as it has been described above.

[0267] Referring to FIGS. 7 to 13 and 15, a leg drive unit (2500) according to one embodiment of the present invention transmits power to a rotation frame unit (2100) to rotate the rotation frame unit (2100), and may include a drive base unit (2510), a drive source unit (2530), a moving unit (2550), a power transmission unit (2570), a rotation restriction unit (2591), and a frame support unit (2595).

[0268] According to one embodiment of the present invention, a bridge drive unit (2500) can generate linear power to rotate a rotation frame unit (2100).

[0269] Referring to FIG. 7, a leg drive unit (2500) according to one embodiment of the present invention is placed on a leg connection frame (1121) and can generate power to rotate a rotation frame unit (2100) relative to the leg connection frame (1121).

[0270] Specifically, as the rotation frame part (2100) rotates outward and / or inward relative to the center of the leg connection frame (1121), the leg massage body (2300) coupled to the rotation frame part (2100) can rotate outward and / or inward relative to the center of the leg connection frame (1121).

[0271] That is, the rotation frame part (2100), specifically the rotation frame body (2110) and the leg massage body (2300) coupled to the rotation frame body (2110), can be rotated by a preset angle based on the rotation center axis (AX1) that is perpendicular to the ground on which the massage device (100) is placed.

[0272] A pair of rotating frame parts (2100) and leg massage main body (2300) are provided, and can rotate relative to the leg connection frame (1121) based on different rotational centers.

[0273] According to one embodiment of the present invention, a bridge drive unit (2500) can transmit power to a pair of rotating frame units (2100A, 2100B) to rotate the pair of rotating frame units (2100A, 2100B) in opposite directions.

[0274] As a result, when a pair of rotating frame parts (2100A, 2100B) rotate in opposite directions and rotate outward with respect to the center of the leg connecting frame part (1121), a leg abduction massage function can be provided to a user (10) seated on the massage device (100).

[0275] Conversely, when a pair of rotating frame parts (2100A, 2100B) rotate inward based on the center of the leg connecting frame (1121), a leg internal rotation massage function can be provided to a user (10) seated on the massage device (100).

[0276] Referring to FIGS. 7, 9 to 13, the driving base unit (2510) according to one embodiment of the present invention is placed on the leg connecting frame (1121) and can be positionally fixed to the leg connecting frame (1121).

[0277] A driving source unit (2530) may be installed in the driving base unit (2510). The driving base unit (2510) may be installed in the central portion of the leg connecting frame (1121).

[0278] A power transmission unit (2570), a rotation restriction unit (2591), and a frame support unit (2595) to be described later can be installed in the drive base unit (2510), and a detailed description of these will be provided later.

[0279] Referring to FIGS. 5, 7, and 13, a driving source unit (2530) according to one embodiment of the present invention is installed in a driving base unit (2510) and can generate power by receiving power from the outside.

[0280] According to one embodiment of the present invention, the driving source (2530) generates rotational power in the form of a motor and transmits the power to the moving part (2550) through the power transmission part (2570), but is not limited thereto, and various modifications can be implemented, such as generating linear power in the form of an actuator.

[0281] According to one embodiment of the present invention, a moving part (2550) is connected to a rotating frame part (2100), and a pair of moving parts may be provided, each connected to a pair of rotating frame parts (2100). The moving part (2550) can move by receiving power from a power transmission part (2570) to be described later.

[0282] A pair of moving parts (2550A, 2550B) can move in opposite directions by receiving power generated from a driving source (2530) from a power transmission part (2570). A pair of moving parts (2550) can move along a preset movement center axis (AX3).

[0283] Referring to FIG. 9, a moving part (2550) according to one embodiment of the present invention may be connected to a power transmission part (2570) on one side and to a rotating frame part (2100) on the other side.

[0284] As a result, the moving part (2550) moves by receiving the power generated from the power transmission part (2570), and as the moving part (2550) moves, the rotating frame part (2100) can rotate relative to the leg connection frame (1121).

[0285] Referring to FIGS. 10 and 11, a slit portion (2551) may be formed on one side of the rotating frame portion (2100), specifically, the moving portion (2550) connected to the connecting member (2150). The slit portion (2551) is formed in the shape of a hole portion, and the connecting member (2150) can pass through it.

[0286] Specifically, the connecting member (2150) provided in the rotating frame part (2100) passes through and spans the rotating frame body (2110) and the slit part (2551), thereby enabling the linear movement of the moving part (2550) to be converted into the rotational movement of the rotating frame body (2110).

[0287] Referring to FIG. 10 and FIG. 11, a slit portion (2551) formed in a moving portion (2550) can be formed such that the length (d1) in the first direction is relatively longer than the length (d2) in the second direction that is perpendicular to the first direction.

[0288] Specifically, the second direction can be formed parallel to the movement direction of the moving part (2550), and the first direction can be formed at a predetermined angle with the movement direction of the moving part (2550).

[0289] Referring to FIG. 10 and FIG. 11, the diameter (2r) of the connecting member (2150) arranged on the inside of the slit portion (2551) can be formed to be relatively smaller than the length (d1) in the first direction, so that the connecting member (2150) can move along the first direction while in contact with the inner surface of the slit portion (2551).

[0290] That is, since a space in which the connecting member (2150) can move is formed on the inside of the slit portion (2551), there is an effect in which the linear movement of the moving portion (2550) can be converted into the rotational movement of the rotating frame body (2110) while maintaining the center axis of movement (AX3) of the moving portion (2550).

[0291] Referring to FIG. 10, the rotating frame part (2100) is illustrated in a state where it does not rotate relative to the bridge connecting frame (1121), and a connecting member (2150) having a central axis (AX2) spaced apart from the rotational central axis (AX1) of the rotating frame part (2100) can come into contact with the inner surface of the front side of the slit part (2551) formed in the moving part (2550).

[0292] Referring to FIG. 11, power generated from a driving source (2530) is transmitted to a moving part (2550) through a power transmission part (2570), and a state in which a rotating frame part (2100) rotates relative to a leg connection frame (1121) is illustrated. As the moving part (2550) moves linearly, power is transmitted to a connecting member (2150) having a region spaced apart from a rotation center axis (AX1) of the rotating frame part (2100) and a center axis (AX2) spaced apart from the rotation center axis (AX1), thereby allowing the rotating frame part (2100) to rotate relative to the leg connection frame (1121).

[0293] At this time, the connecting member (2150) can come into contact with the inner surface on the rear side of the slit portion (2551) formed in the moving portion (2550).

[0294] Referring to FIGS. 7, 9, 10, and 13, a power transmission unit (2570) according to one embodiment of the present invention connects a driving source unit (2530) and a moving unit (2550), and can transmit power generated from the driving source unit (2530) to the moving unit (2550).

[0295] Referring to FIG. 9 and FIG. 13, a power transmission unit (2570) according to one embodiment of the present invention may include a gear unit (2571) and a transmission shaft (2575).

[0296] The gear unit (2571) can come into contact with the driving unit (2530) and receive power from the driving unit (2530).

[0297] The gear unit (2571) may be formed in a worm gear manner. However, it is not limited thereto, and various modifications, such as a rack-and-pinion gear manner, may be implemented within the technical scope capable of transmitting power from the driving unit (2530).

[0298] The gear unit (2571) according to one embodiment of the present invention can rotate by receiving rotational power generated from the driving source unit (2530). The gear unit (2571) is coupled to a transmission shaft (2575) to be described later, and the transmission shaft (2575) can rotate together as the gear unit (2571) rotates.

[0299] A transmission shaft (2575) according to one embodiment of the present invention is connected to a gear unit (2571), is formed to extend along the longitudinal direction (left-right direction based on FIG. 13), and can rotate together with the gear unit (2571) when the gear unit (2571) rotates by receiving power from the driving source unit (2530).

[0300] Referring to FIG. 9 and FIG. 13, the transmission shaft (2575) can be connected to a pair of moving parts (2550), and the transmission shaft (2575) and the pair of moving parts (2550) can rotate relative to each other.

[0301] A pair of moving parts (2550) can move on a transmission shaft (2575) and receive power from a driving source (2530) so that the power transmission part (2570), specifically the transmission shaft (2575), rotates, thereby allowing a pair of moving parts (2550) to move linearly on the transmission shaft (2575).

[0302] According to one embodiment of the present invention, a transmission shaft (2575) and a pair of moving parts (2550) may be connected by a screw connection. Specifically, a screw thread may be formed on the outer surface of the transmission shaft (2575), and a screw groove may be formed on the inner surface of the moving part (2550) that comes into contact with the outer surface of the transmission shaft (2575).

[0303] As a result, when the transmission shaft (2575) that receives power from the driving unit (2530) through the gear unit (2571) rotates, the transmission shaft (2575) and the moving unit (2550) can rotate relative to each other.

[0304] Referring to FIG. 9, FIG. 12, and FIG. 13, a rotation limiting member (2591) fixed to a driving base member (2510) makes surface contact with one side (lower side based on FIG. 13) of a moving member (2550) while supporting the contact, and the rotation limiting member (2591) can limit the rotation of the moving member (2550).

[0305] As a result, the rotational power of the transmission shaft (2575) is transmitted to the moving part (2550), which has the effect of generating linear power.

[0306] As the power transmission unit (2570) according to one embodiment of the present invention transmits power to a pair of moving units (2550A, 2550B), the pair of moving units (2550A, 2550B) can move in opposite directions.

[0307] That is, as the power transmission unit (2570) according to one embodiment of the present invention, specifically the transmission shaft (2575), rotates, the moving units (2550) connected on both sides with respect to the center of the transmission shaft (2575) can move in opposite directions.

[0308] Referring to FIG. 13, in the initial state where the moving part (2550) is not moving, the power generated from the driving source (2530) moves the moving part (2550) through the power transmission part (2570) at the first position (P1) of the end of the moving part (2550), thereby moving the end of the moving part (2550) to the second position (P2).

[0309] Referring to FIG. 13, when the moving unit (2550) moves from the first position (P1) to the second position (P2), the distance between a pair of moving units (2550A, 2550B) may increase, and when the moving unit (2550) moves from the second position (P2) to the first position, the distance between a pair of moving units (2550A, 2550B) may decrease.

[0310] Looking at this from another perspective, FIG. 10 illustrates a case where the end of the moving part (2550) is at the first position (P1), and FIG. 11 illustrates a case where the end of the moving part (2550) is at the second position (P2).

[0311] That is, as the end of the moving part (2550) moves from the first position (P1) to the second position (P2), power can be transmitted to the rotating frame part (2100), and the rotating frame body (2110) and the leg massage body (2300) hinge-joined to the rotating frame body (2110) with respect to the rotation center axis (AX1) can be rotated outward with respect to the center of the leg connection frame (1121).

[0312] Conversely, as the end of the moving part (2550) moves from the second position (P2) to the first position (P1), power can be transmitted to the rotating frame part (2100), and the rotating frame body (2110) and the leg massage body (2300) hinge-joined to the rotating frame body (2110) can be rotated inward with respect to the center of the leg connection frame (1121) based on the rotation center axis (AX1).

[0313] Referring to FIGS. 10 and 11, since the connecting member (2150) is movable inside the slit portion (2551) formed at one end of the moving portion (2550) connected to the rotating frame portion (2100), the linear movement of the moving portion (2550) can be converted into the rotational movement of the rotating frame portion (2100), specifically, the rotating frame body (2110), while maintaining the central axis (AX3) of the moving direction of the moving portion (2550).

[0314] According to one embodiment of the present invention, the transmission shaft (2575) may have screw threads formed in opposite directions at the portions respectively connected to a pair of moving parts (2550), and the direction of the screw grooves formed on the inner surface of a pair of moving parts (2550A, 2550B) that come into surface contact with the transmission shaft (2575) may be formed in the same manner.

[0315] Accordingly, when power is transmitted from the driving unit (2530) and the transmission shaft (2575) rotates around the rotation center axis (AX3), a pair of moving parts (2550A, 2550B) connected to both sides of the transmission shaft (2575) can move in opposite directions.

[0316] However, it is not limited to this, and various modifications are possible, such as forming the direction of the screw threads formed on both sides of the transmission shaft (2575) connected to a pair of moving parts (2550A, 2550B) in the same way, and forming the screw grooves formed on the inner surface of the pair of moving parts (2550A, 2550B) in surface contact with the screw threads formed on the outer surface of the transmission shaft (2575) in opposite directions.

[0317] Referring to FIGS. 7, 9, 12, and 13, a rotation restriction unit (2591) according to one embodiment of the present invention is coupled to a driving base unit (2510), and a plurality of such units may be provided to correspond to a pair of moving units (2550).

[0318] The rotation restriction part (2591) is fixed in position to the driving base part (2510) and can contact and support the moving part (2550).

[0319] Specifically, the rotation restriction part (2591) can be in surface contact with one surface (bottom surface as shown in FIG. 13) of the moving part (2550). Since the rotation restriction part (2591) and the moving part (2550) are in surface contact, the moving part (2550) is restricted from rotating on the rotation restriction part (2591), and the moving part (2550) can move linearly along a preset direction (left and right direction as shown in FIG. 13) by the relative rotation of the moving part (2550) and the power transmission part (2570), specifically, the transmission shaft (2575).

[0320] In the present invention, the rotation restriction part (2591) is arranged on the lower side (based on FIG. 13) of the moving part (2550), but is not limited thereto, and various modifications are possible, such as being arranged on the upper side (based on FIG. 13) of the moving part (2550) within the technical concept of restricting the rotation of the moving part (2550).

[0321] Referring to FIG. 7, FIG. 9, and FIG. 13, a frame support member (2595) according to one embodiment of the present invention is disposed between a driving base member (2510) and a rotation frame member (2100), and can contact-support the rotation frame member (2100).

[0322] The frame support member (2595) can be placed on one surface (upper surface as shown in FIG. 13) of the drive base member (2510) facing the rotation frame member (2100), specifically the rotation frame body (2110), and can contact and support the rotation frame body (2110).

[0323] As an optional embodiment, an area of ​​the frame support portion (2595) that can come into contact with the rotating frame body (2110) may be formed of a rubber material.

[0324] This has the effect of reducing friction and damage caused by friction between the rotating frame body (2110) and the frame support member (2595).

[0325] Referring to FIG. 13, a pair of frame supports (2595) may be provided to correspond to a pair of rotating frame bodies (2110A, 2110B).

[0326] Referring to FIG. 9, the rotation frame body (2110) is supported by a frame support member (2595) on the other side of the center of the rotation frame body (2110) separately from the rotation center axis (AX1) formed on one side based on the center of the rotation frame body (2110), thereby preventing the rotation frame body (2110) to which the leg massage body (2300) is connected from tilting in the up-and-down direction (based on FIG. 4).

[0327] Referring to FIG. 14, since the extension portion (2115) is formed to protrude and extend toward the rear side of the rotation frame body (2110), even when the rotation frame body (2100) is rotated in an outward direction based on the rotation center axis, there is an effect in which the frame support portion (2595) can stably contact and support the rotation frame body (2110).

[0328] Referring to FIGS. 4 to 7 and 15, a position adjustment unit (2700) according to one embodiment of the present invention may include an angle adjustment unit (2710) for adjusting the position of a leg massage body (2300) with respect to a frame unit, specifically, a seat frame (1120).

[0329] A position adjustment unit (2700) according to one embodiment of the present invention provides a massage device (100) that can apply various movements related to leg massage to a user (10) by adjusting at least one of the height and angle of the leg massage body (2300).

[0330] Specifically, the position adjustment unit (2700) may include a length adjustment unit (not shown in the drawing) that can transmit power to the leg massage body (2300) to linearly move the leg massage body (2300) forward and / or backward with respect to the leg connection frame (1121).

[0331] In addition, the position adjustment unit (2700) may include a height adjustment unit (not shown in the drawing) that can linearly move the leg massage body (2300) that accommodates the leg of the user (10) in a preset direction, specifically, in a direction that moves the knee of the user (10) closer to the upper body of the user (10) or away from the upper body.

[0332] Hereinafter, with regard to the specific configuration of the position adjustment unit (2700) according to one embodiment of the present invention, the angle adjustment unit (2710) that rotates the leg massage body (2300) relative to the rotation frame unit (2100) will be described in detail.

[0333] Referring to FIGS. 4 to 7 and 15, an angle adjustment unit (2710) according to one embodiment of the present invention transmits power to a leg massage body (2300) to rotate it relative to a rotation frame unit (2100), and may include a support unit (2711) and an angle adjustment driving unit (2715).

[0334] Referring to FIG. 5, by driving the angle adjustment unit (2710) according to one embodiment of the present invention, the leg massage main body (2300) can rotate clockwise and / or counterclockwise with a preset rotation axis (AX4) as the rotation center axis. By driving the angle adjustment unit (2710), a plurality of leg massage main bodies (2300A, 2300B) can rotate clockwise or counterclockwise with respect to the vertical direction as shown in FIG. 16.

[0335] That is, the angle adjustment unit (2710) transmits power to the contact frame (2311) formed in the leg massage body (2300), specifically the leg base part (2310), so that the leg base part (2310) can rotate clockwise and / or counterclockwise with respect to the rotation frame part (2100), specifically the rotation frame body (2110), about a rotation center axis (AX4) that is set in advance.

[0336] In other words, since the angle adjustment unit (2710) transmits power to the leg massage body (2300), the leg massage body (2300) performs a hinge movement with respect to the rotation frame body (2110), and the leg angle can be adjusted by folding or unfolding the leg based on the knee area of ​​the user (10).

[0337] According to one embodiment of the present invention, a pair of angle adjustment units (2710) may be provided to correspond to a pair of leg massage bodies (2300).

[0338] Referring to FIGS. 5 to 7, a support member (2711) according to one embodiment of the present invention can be in contact with a leg massage body (2300) and can be rotatably connected to a leg connection frame (1121). The support member (2711) can include a support member (2712) and a contact member (2713).

[0339] The support body (2712) is rotatably connected to the leg connection frame (1121) and can be connected to the angle adjustment drive unit (2715).

[0340] Referring to FIG. 5, the support body (2712) can rotate with respect to the leg connection frame (1121) by receiving power from the angle adjustment drive unit (2715), and when the support body (2712) rotates toward the front with respect to the leg connection frame (1121), the leg massage body (2300) can rotate with respect to the rotation frame body (2110) toward the front.

[0341] Referring to FIGS. 5 to 7, the contact portion (2713) is rotatably coupled to the support body (2712) and can contact the contact frame (2311) formed on the leg massage body (2300), specifically, the leg base portion (2310).

[0342] The contact portion (2713) is rotatably connected to the support body (2712) in a roller manner and is capable of cloud contact with the contact frame (2311).

[0343] As a result, the support body (2712) that receives power from the angle adjustment drive unit (2715) can push the leg massage body (2300), and the leg massage body (2300) can move in a hinge motion with respect to the rotation frame unit (2100), specifically, the rotation frame body (2110), with respect to the rotation center axis (AX4), and the angle can be adjusted.

[0344] Due to the contact portion (2713), friction caused by contact between the angle adjustment portion (2710), specifically the support portion (2711), and the leg massage body (2300) can be reduced, and power can be transmitted to the leg massage body (2300) to rotate the leg massage body (2300) by a preset angle with respect to the rotation frame body (2110).

[0345] Referring to FIG. 7, the outer surface (2713r) of the contact portion (2713) facing the leg massage body (2300) according to one embodiment of the present invention may be formed in a convex shape with a predetermined radius of curvature toward the outside.

[0346] Specifically, the contact portion (2713) that can come into contact with the leg massage body (2300A) that accommodates the left leg of the user (10) may be formed in a convex shape with an outer surface (2713r) facing left based on the front of the user (10) seated on the massage device (100) having a predetermined radius of curvature.

[0347] Meanwhile, the contact portion (2713) that can come into contact with the leg massage body (2300B) that accommodates the right leg of the user (10) may be formed in a convex shape with an outer surface (2713r) facing to the right based on the front of the user (10) seated on the massage device (100) having a predetermined radius of curvature.

[0348] Since a pair of contact portions (2713) are formed in a convex shape with a predetermined radius of curvature toward the outside based on the front of the massage device (100), when the rotation frame portion (2100) and the leg massage body (2300) hinge-coupled to the rotation frame portion (2100) perform an abduction movement in which the rotation frame portion (2100) rotates outward by a preset angle based on the rotation center axis (AX1) with respect to the leg connection frame (1121) and / or an internal rotation movement in which the rotation frame portion (2713) rotates inward by a preset angle based on the rotation center axis (AX1), the angle of the leg massage body (2300) can be adjusted while the contact portions (2713) are maintained in stable contact with the contact frame (2311).

[0349] The angle adjustment driving unit (2715) can be adjusted in length and transmits power to the support unit (2711), and can be formed as an actuator. The angle adjustment driving unit (2715) according to one embodiment of the present invention is formed in an electric cylinder manner, but is not limited thereto, and various modifications such as a motor, linear motor, electronic motor, DC motor, AC motor, linear actuator, etc. capable of providing driving force within the technical concept of length adjustment are possible.

[0350] A control unit according to one embodiment of the present invention can control power by transmitting an electrical signal to an angle adjustment driving unit (2715).

[0351] According to an embodiment of the present invention, the leg massage body (2300A, 2300B) into which the user's (10) leg is inserted is rotated clockwise and / or counterclockwise around the rotation axis (AX4) positioned close to the user's (10) knee as the rotation center axis, and the angle can be adjusted, and there is an effect of providing a massage.

[0352] According to one embodiment of the present invention, a massage device (100) can provide a leg adduction and / or abduction function to a user (10) by using power generated from a leg driving unit (2500) to rotate a rotation frame unit (2100) relative to a leg connection frame (1121).

[0353] Additionally, the power generated from the bridge drive unit (2500) is transmitted to a pair of rotating frame units (2100), allowing the pair of rotating frame units (2100) to rotate in opposite directions.

[0354] In addition, since the connecting member (2150) is movable inside the slit portion (2551) formed in the moving portion (2550), there is an effect in which the linear movement of the moving portion (2550) can be converted into the rotational movement of the rotating frame body (2110).

[0355] In addition, since the outer surface of the angle adjustment unit (2710) for adjusting the angle of the leg massage body (2300), specifically the contact portion (2713), is formed in a convex shape with a predetermined radius of curvature toward the outside based on the front of the user (10) seated on the massage device (100), there is an effect in which the contact portion (2713) can stably contact and support the leg massage body (2300) while the rotating frame body (2110) to which the leg massage body (2300) is coupled is rotated with respect to the leg connection frame (1121).

[0356]

[0357] Below, another embodiment of a driving mechanism that implements vertical rotation and horizontal rotation of the leg massage part is described with reference to FIGS. 17 to 23.

[0358] In relation to this embodiment, the reference numerals of the components illustrated in the drawings may be different from the reference numerals of the components of the above-described embodiments (the embodiments described with reference to FIGS. 1 to 16). This is due to the necessity of tools for effectively explaining the embodiments of the present invention illustrated in FIGS. 17 to 25, etc., and therefore, if the corresponding technical idea can be implemented at the level of a person skilled in the art, it should be interpreted that one or more of the components of the embodiments described below may be the same as or equivalent to one or more of the components of the above-described embodiments or the embodiments described with reference to FIGS. 26 to 33.

[0359]

[0360] FIG. 17 is a perspective view showing a connecting device of a leg massage unit of a massage device according to one embodiment of the present invention, FIG. 18 is a side view showing a connecting device of a leg massage unit of a massage device according to one embodiment of the present invention, and FIG. 19 is a drawing for explaining a swing driving unit of a swing control unit according to one embodiment of the present invention.

[0361] A leg massage unit connection device (3000) of a massage device (100) according to one embodiment of the present invention is provided to movably connect a leg massage unit (2000) to a seat frame (1250) of a main frame (1100).

[0362] The leg massage unit connecting device (3000) of the massage device according to the present invention includes at least one of a swing control unit (3100) and a leg angle control unit (3500).

[0363] The swing control unit (3100) connects the leg massage unit (2000) to the seat frame (1250) so that it can rotate horizontally. In the following description, the movement of the leg massage unit (2000) rotating horizontally is referred to as a swing motion, and the mode in which the swing motion is performed is referred to as a swing mode.

[0364] Referring to Fig. 17, a swing control unit (3100) is provided corresponding to each of the one-sided leg massage unit (2001) and the other-sided leg massage unit (2002). That is, the swing control unit (3100) may include a swing control unit for the one-sided leg massage unit (2001) and a swing control unit for the other-sided leg massage unit (2002). As a result, the one-sided leg massage unit (2001) and the other-sided leg massage unit (2002) can individually perform horizontal rotation, i.e., a swing motion.

[0365] According to one embodiment of the present disclosure, the swing control unit (3100) includes at least a portion of a support shaft (3110), a fixed wheel (3120), a swing frame (3200), and a swing driving unit (3300).

[0366] The support shaft (3110) is supported by being arranged vertically on the seat frame (1250). In the present disclosure, the vertical direction means a direction parallel to the Z-axis direction based on the coordinate system illustrated in FIG. 17 and corresponds to the up-down direction in the massage device. In addition, the horizontal direction means a direction parallel to the XY plane in the coordinate system, the front-back direction of the massage device means a direction parallel to the X-axis, and the left-right direction of the massage device can be defined as a direction parallel to the Y-axis.

[0367] According to one embodiment of the present disclosure, the seat frame (1250) includes a support shaft frame (1260) protruding forward. The support shaft frame (1260) extends in a pair of upper and lower portions, and the upper and lower ends of the support shaft (1260) are connected therebetween and extend vertically. By connecting the support shaft (3110) to the support shaft frame (1260) at a position spaced apart from the front of the seat frame (1250), when the swing frame (3200) is rotated horizontally with respect to the support shaft (3110), it is possible to increase the left and right swing rotation range while preventing interference with the seat frame (1250).

[0368] The fixed wheel (3120) is coupled to the support shaft (3110) in a horizontal direction, as clearly shown in the enlarged view A of Fig. 18. That is, the fixed wheel (3120) is arranged so that the radial direction extends parallel to the XY plane based on the coordinate system shown in Fig. 17 and intersects the support shaft.

[0369] The fixed wheel (3120) can be integrally fixed to the support shaft (3110) so that relative rotation between the support shaft (3110) and the fixed wheel (3120) does not occur. The fixed wheel (3120) can be formed as a gear with gear teeth formed on the outer surface.

[0370] The swing frame (3200) is connected to a support shaft (3110) and is supported so as to be rotatable in a horizontal direction with respect to the seat frame (1250).

[0371] The swing frame (3200) includes a support shaft connection part (3210) connected to a support shaft (3110). The support shaft connection part (3210) is formed as a hole into which the support shaft (3110) is inserted.

[0372] According to one embodiment of the present disclosure, the support shaft (3110) can be fixed non-rotatably to the frame support shaft (1260). The swing frame (3200) can rotate around the support shaft connection portion (3210) on the fixed support shaft (3110). At this time, a bearing (3212) can be placed in the hole forming the support shaft connection portion (3210).

[0373] The swing frame (3200) is provided with a connecting bracket (3220) to which a leg massage part (2000) is connected at a position facing the support shaft connecting part (3210). The connecting brackets (3220) are provided in pairs, spaced apart from each other, on the front surface (3202) of the swing frame (3200), and the leg massage part rotation axes (2010) protruding from both sides of the leg massage part (2000) are inserted into the connecting brackets (3220) and are rotatably supported.

[0374] The connecting bracket (3220) is formed so that the upper surface can be detachably attached to the lower surface, thereby facilitating assembly of the leg massage unit (2000). When the up-and-down rotation of the leg massage unit (2000) is adjusted by the leg angle adjustment unit (3500), the leg massage unit rotation shaft (2010) rotates with respect to the connecting bracket (3220), thereby causing the leg massage unit (2000) to rotate up-and-down.

[0375] The swing drive unit (3300) provides a driving force that causes the leg massage unit (2000) to rotate horizontally with respect to the support shaft (3110). Fig. 19 illustrates the configuration of the swing drive unit (3300) with the upper surface of the swing frame (3200) removed.

[0376] According to one embodiment of the present disclosure, a swing driving unit (3300) is disposed on a swing frame (3200). The swing driving unit (3300) includes a swing driving motor (3310) and a worm gear (3320).

[0377] The swing drive motor (3310) provides driving force that enables the swing frame (3200) to rotate horizontally with respect to the support shaft (3110) while supporting the leg massage unit (2000).

[0378] The swing driving unit (3300) is placed in a space (3230) formed inside the swing frame (3200). The swing frame (3200) includes a space (3230) between the body formed by the front (3202), upper surface, and lower surface (3204).

[0379] The swing driving motor (3310) is placed on the lower surface (3204) of the swing frame (3200). One side of the swing driving motor (3310) is fixed to a motor fixing clamp (3235). A worm gear (3320) is connected to the motor shaft of the swing driving motor (3310). The worm gear (3320) has a worm gear shaft (3311) connected to the motor shaft, and the other side is rotatably fixed to a shaft fixing clamp (3236).

[0380] The worm gear (3320) is connected so that the swing frame (3200) is guided to move relative to the fixed wheel (3120) when the swing driving motor (3310) rotates.

[0381] The worm gear (3320) is arranged to intersect with the fixed wheel (3120) and mesh with the gear formed on the outer surface of the fixed wheel (3120).

[0382] Since the support shaft (3110) and the fixed wheel (3120) are arranged in a fixed state, when the worm gear (3320) is rotated by the swing driving motor (3310), the swing frame (3200) to which the swing driving unit (3300) including the worm gear (3320) is combined is guided by the fixed wheel (3120) to rotate in the horizontal direction.

[0383] Since the rotation of the swing drive motor (3310) is converted into rotation about the support shaft (3110) of the swing frame (3200) by the swing control unit (3100), the leg massage unit (2000) coupled to the swing frame (3200) can rotate horizontally and left and right.

[0384] The rotation of the swing driving motor (3310) is controlled by the control unit, and the forward and reverse rotation of the swing driving motor (3310) is converted into the left and right rotation of the leg massage unit (2000). In order to precisely control the rotation of the swing driving motor (3310), a sensor such as an encoder may be provided to sense the rotation of the swing driving motor (3310).

[0385] According to one embodiment of the present disclosure, when the swing drive unit (3300) is placed on the swing frame (3200), the space utilization of the seat frame (1250) where various components are placed is relatively advantageous. In addition, since the swing drive unit (3300) is integrally connected to the swing frame (3200) to form modular, i.e., assembled unit components, the assembly process can be simplified and facilitated when assembling the massage device.

[0386] The swing control unit of the leg massage unit connecting device according to the present invention implements various movements such as the user's legs spreading apart, rotating together in one direction, and rotating together in the other direction, thereby enabling the massage device to provide various stretching modes, etc.

[0387] Fig. 20 is a perspective view of a leg angle adjustment unit according to another embodiment of the present invention, and Fig. 21 is a perspective view showing a portion of the housing cut away from the gear box of the leg angle adjustment unit illustrated in Fig. 20.

[0388] Referring to FIGS. 17, 18, 20, and 21, a leg angle adjustment unit (3500) according to one embodiment of the present disclosure is provided to rotate a leg massage unit (2000) in an up-and-down direction.

[0389] The leg angle adjustment unit (3500) includes at least a portion of the angle adjustment unit frame (3600), the leg rotation motor (3732), and the leg support unit (3800). The leg rotation motor (3732) may be provided in the form of a gear box (3700).

[0390] According to one embodiment of the present disclosure, the angle adjustment frame (3600) can be fixed to the swing frame (3200) of the swing adjustment unit (3100). The angle adjustment frame (3600) can be fixed and hung below the lower surface (3204) of the swing frame (3200).

[0391] The angle adjustment frame (3600) may be formed of a plate and / or a frame bar, and may form a gearbox arrangement space (3670) therein. For example, it may include a plate forming the upper and lower surfaces (3612, 3614) and a vertical frame bar (3616) arranged at an edge between the upper and lower surfaces (3612, 3614). The space between the upper and lower surfaces (3612, 3614) forms the gearbox arrangement space (3670). However, the present invention is not limited by the above-described structure of the angle adjustment frame.

[0392] A leg rotation motor (3732) that provides driving force to rotate the leg massage unit (2000) in the up-and-down direction is placed in the angle adjustment unit frame (3600).

[0393] According to one embodiment of the present disclosure, the leg rotation motor (3732) is modularized into a gearbox (3700) and placed in an angle adjustment frame (3600) in a modular form.

[0394] The gearbox (3700) includes a housing (3710), a leg rotation motor (3732), and gear units having a plurality of gears for reducing the rotation of the leg rotation motor (3732) and driving an angle adjustment rotation shaft (3760).

[0395] The housing (3710) houses a leg rotation motor (3732) and first to third gear units (3730, 3740, 3750) therein.

[0396] The first gear part (3730) includes a first worm (3734) connected to the motor shaft of the leg rotation motor (3732). The first gear part (3730) is arranged to extend to the upper portion of the leg rotation motor (3732).

[0397] The portion of the housing (3710) that accommodates the leg rotation motor (3732) and the first gear portion (3730) forms a first housing portion (3713).

[0398] The second gear unit (3740) includes a worm wheel (3742) that meshes with the first worm (3734) and a second worm (3744) that is coaxially coupled to the worm wheel (3742). In the gearbox arrangement space (3670), the second gear unit (3740) is arranged to extend in the front-rear direction while intersecting the first gear unit (3730).

[0399] The worm wheel (3742) and the second worm (3744) have a reduction ratio formed to reduce the rotation speed transmitted to the worm wheel (3742) and output it to the output gear (3752).

[0400] The portion of the housing (3710) that accommodates the second gear portion (3740) forms a second housing portion (3714).

[0401] The third gear unit (3750) includes an output gear (3752) that engages with the second worm (3744). An angle-adjusting rotation shaft (3760) is connected to the output wheel (3752). The third gear unit (3750) is arranged in front of the first gear unit (3730) and the leg rotation motor (3732) in the gearbox arrangement space (3670) and is arranged to extend in the left and right directions.

[0402] The portion of the housing (3710) that accommodates the third gear (3750) forms a third housing portion (3715). The angle adjustment rotation axis (3760) extends outward through the housing (3710), i.e., the third housing portion (3715).

[0403] The gearbox (3700) enables the rotation of the leg rotation motor (3732) to be converted into high torque required for the rotation of the leg massage unit (2000) and output.

[0404] The upper and lower ends of the first housing portion (3713) are fixed to the angle adjustment frame (3600) within the gearbox arrangement space (3670). That is, the upper end of the first housing portion (3713) is fixed to the upper surface (3612) of the angle adjustment frame, and the lower end is fixed to the lower surface (3614) of the angle adjustment frame. In addition, a pair of clamps (3620) that rotatably support both ends of the angle adjustment rotation shaft (3760) are fixed on the lower surface (3614) of the angle adjustment frame (3600). In this way, the gearbox (3700) can be easily assembled with the angle adjustment frame (3600).

[0405] A gearbox (3700) according to one embodiment of the present disclosure enables compact arrangement of a leg rotation motor and gears within a gearbox arrangement space (3670) within an angle adjustment unit frame (3600). The leg angle adjustment unit (3500) is modularized and can be assembled into a massage device as a single, modularly assembled component.

[0406] The rotation of the leg rotation motor (3732) is controlled by the control unit, and the forward and reverse rotation of the leg rotation motor (3732) causes the leg support unit (3800) to rotate up and down. In order to precisely control the rotation of the leg rotation motor (3732), a sensor such as an encoder may be provided to sense the rotation of the leg rotation motor (3732). In this way, the angle of the leg massage unit (2000) can be adjusted.

[0407] The bridge support member (3800) includes an angle adjustment bracket (3810) having a connecting end fixed to an angle adjustment rotation axis (3760) and a moving wheel (3820).

[0408] The angle adjustment bracket (3810) is branched into two sides and forms a connecting end that is fixed on both sides to the angle adjustment rotation shaft (3760). A moving wheel (3820) that contacts the rear of the leg massage unit (2000) is connected to the other end of the angle adjustment bracket (3810).

[0409] When the leg support part (3800) rotates upward by the rotation of the leg rotation motor (3732), the leg support part (3800) pushes the rear of the leg massage part (2000) upward, thereby rotating the leg massage part (2000) upward around the leg massage rotation axis. When the leg rotation motor (3732) rotates in the opposite direction and the leg support part (3800) rotates downward, the leg massage part (2000) rotates downward by the load while being supported by the leg support part (3800).

[0410] Fig. 22 illustrates a state in which the leg massage part of a massage device according to one embodiment of the present invention is rotated upward, i.e., lifted, by the leg angle adjustment part.

[0411] According to one embodiment of the present invention, the leg angle adjustment unit (3500) can be installed as a modular leg angle adjustment unit (3500) supported on a main frame (1100), for example, a seat frame (1250). The mechanical connection of the leg angle adjustment unit (3500) can be completed only through an assembly process of fixing the angle adjustment unit frame (3600) to the front of the seat frame (1250).

[0412] When the leg support part (3800) is rotated to adjust the rotation angle of the leg massage part (2000) in the up-and-down direction, interference with other parts installed in the seat frame (1250) and / or base frame (1300) does not occur or is minimized, so that the leg massage part (2000) can have an increased angle adjustment range, as shown in FIG. 22.

[0413] In addition, since the angular velocity at which the leg massage part (2000) moves can be made faster than that of the actuator according to the output of the leg rotation motor (3732), the movement of the leg massage part (2000) of the massage device can be controlled more quickly.

[0414] The known massage device arranges an actuator that can be extended on a base frame or a seat frame, and adjusts the angle of the leg massage part by rotating the leg massage part by the extension of the actuator. In order to increase the rotation angle of the leg massage part, an actuator with a long extension length must be arranged, and the actuator must be arranged so as to prevent interference with other components within the base frame or seat frame. Due to space constraints for installing the actuator and interference between the actuator and the seat frame and / or base frame, there is a limit to increasing the rotation angle of the leg massage part. For example, in the known configuration of the actuator extension method, it is not easy to rotate the leg massage part upward to the extent shown in Fig. 22.

[0415] Meanwhile, massage devices have recently evolved to incorporate a variety of functions, and space within the base frame or seat frame for installing components required to perform these functions is becoming increasingly limited. However, in the present invention, where the leg angle adjustment unit is positioned outside the main frame, space is secured within the base frame or seat frame for assembling other components.

[0416] A connecting device of a leg massage unit according to another embodiment of the present disclosure may be provided with a leg angle adjustment unit (3500) without a swing adjustment unit (3100).

[0417] The angle adjustment frame (3600) may be directly connected to the seat frame (1250) or may be fixed to a seat frame extension extending from the seat frame (1250). For example, the swing adjustment unit described in relation to one embodiment of the present invention may correspond to the seat frame extension.

[0418] According to another embodiment of the present disclosure, a leg angle adjustment unit (3500) may be provided for an integrated leg massage unit (2000) in which one leg massage unit (2001) and the other leg massage unit (2002) are integrally combined. The leg angle adjustment unit (3500) is provided for the integrated leg massage unit (2000), and the leg support unit (3800) can rotate the integrated leg massage unit (2000) upward by pushing up the rear of the integrated leg massage unit (2000).

[0419] In addition, the leg angle adjustment unit (3500) may be provided for the leg massage unit (2000) in which one leg massage unit (2001) and the other leg massage unit (2002) operate individually. In this case, the leg angle adjustment unit (3500) for the one leg massage unit (2001) and the leg angle adjustment unit (3500) for the other leg massage unit (2002) are provided, and the one leg massage unit (2001) and the other leg massage unit (2002) can have their up and down rotation angles individually adjusted.

[0420] Fig. 23 is a drawing for explaining the operation of the leg massage part by the leg massage part connecting device of the massage device according to the present invention.

[0421] Figure 23 (a) shows the initial position of the leg massage unit (2000) in the massage device. The one-sided leg massage unit (2001) and the other-sided leg massage unit (2002) are connected to operate individually, and a leg massage unit connecting device (3000) is provided, which has a swing control unit (3100) and a leg angle control unit (3500) corresponding to each of the one-sided leg massage unit (2001) and the other-sided leg massage unit (2002).

[0422] Figure 23 (b) illustrates that each of the one-sided and the other-sided leg massage parts (2001, 2002) is adjusted to an upward rotation angle from the initial position, i.e., to a lifted state, and that the one-sided and the other-sided leg massage parts (2001, 2002) swing outwardly away from each other. This movement of the one-sided and the other-sided leg massage parts (2001, 2002) implements a movement in which the user's legs are lifted and both legs are spread apart. At this time, the one-sided and the other-sided leg massage parts (2001, 2002) can vary the upward rotation angle and the outward rotation angle.

[0423] Figure 23 (c) illustrates that the one-sided and the other-sided leg massage parts (2001, 2002) swing and rotate in one direction. The one-sided and the other-sided leg massage parts (2001, 2002) can implement a leg swing operation mode in which they repeat the movement in one-sided and the other-sided directions together. At this time, the one-sided and the other-sided leg massage parts (2001, 2002) can swing while being lifted upward.

[0424] As illustrated in Fig. 23, the leg massage part of the massage device according to the present invention can implement various movements, thereby enabling the massage device to provide various stretching modes and massage modes.

[0425]

[0426] Hereinafter, with reference to FIGS. 24 to 33, the specific configuration, processing, function, etc. of a massage device (200) according to an embodiment (hereinafter referred to as the “second embodiment”) that implements various motions or movements through relative or complex motions including horizontal rotation (movement) of a leg massage part will be described in detail.

[0427] It goes without saying that the massage device (200) described below can be applied in combination or selectively with one or more of the components included in the aforementioned massage device (100).

[0428] In addition, some of the terms and / or reference symbols referring to the massage device (200) and its sub-components according to the second embodiment described below may be different from the terms and / or reference symbols of the massage device described above.

[0429] This is due to the necessity of tools for effectively explaining the embodiment, etc., and if the corresponding technical idea can be implemented at the level of a person skilled in the art, it should be interpreted that one or more of the configurations of the embodiment described below may be the same as or equivalent to one or more of the configurations described above.

[0430] For example, the arm massage unit (250A, 250B) described in the second embodiment below may correspond to the arm massage unit (3000) described in the above-described embodiment (the embodiment described with reference to FIGS. 1 to 16), and the first and second leg massage units (230A, 230B) described in the second embodiment below may correspond to the leg massage unit (2300A, 23000B) described in the above-described embodiment or / and the leg massage unit (2001, 2002) of the embodiment described with reference to FIGS. 17 to 23.

[0431] In addition, the horizontal driving unit (240AH, 240BH) of the second embodiment that drives the horizontal rotation (or / and movement) of the leg massage unit (230A, 230B) may correspond to the leg driving unit (2500) of the above-described embodiment or the swing control unit (3100) of the embodiment described with reference to FIGS. 17 to 23.

[0432] The vertical driving unit (240AV, 240BV) of the second embodiment that drives the vertical rotation (or / and movement) of the leg massage unit (230A, 230B) may correspond to the angle adjustment unit (2710) or leg angle actuator of the above-described embodiment and may correspond to the leg angle adjustment unit (3500) of the embodiment described with reference to FIGS. 17 to 23.

[0433] As previously discussed, the leg massage unit can be composed of a pair of leg massage units (230A, 230B), and therefore, the adjustment unit for adjusting the length of the leg massage units (230A, 230B) can also be composed of a pair of length adjustment units (240AL, 240BL). The horizontal drive unit (240AH, 240BH) for driving the horizontal rotation (movement) of the leg massage units (230A, 230B) and the vertical drive unit (240AV, 240BV) for driving the vertical rotation (movement) of the leg massage units (230A, 230B) are also the same.

[0434] The first length adjusting unit (240AL) is connected to the first leg massage unit (230A) and can adjust the length of the first leg massage unit (230A). For example, the first leg length adjusting unit (240AL) can be arranged between one end and the other end of the first leg massage unit (230A) and connect the one end and the other end of the first leg massage unit (230A). The first leg length adjusting unit (240AL) provides a length adjusting driving force to the first leg massage unit (230A) to adjust the length between the one end and the other end of the first leg massage unit (230A), thereby adjusting the length of the first leg massage unit (230A). The second leg length adjusting unit (240BL) can also be the same.

[0435] The first vertical driving unit (240AV) is connected to the first leg massage unit (230A) and can adjust the angle (up and down) of the first leg massage unit (230A). For example, the first vertical driving unit (240AV) can be arranged between the rear of the first leg massage unit (230A) and the body massage unit (210) to connect the first leg massage unit (230A) and the body massage unit (210). The first vertical driving unit (240AV) can adjust the angle of the first leg massage unit (230A) by pushing the first leg massage unit (230A) forward or pulling it backward to rotate (or tilt) the first leg massage unit (230A) clockwise or counterclockwise.

[0436] As described above, the first vertical drive unit (240AV) is positioned between the rear of the first leg massage unit (230A) and the body massage unit (210) to connect the first leg massage unit (230A) and the body massage unit (210), but is not limited thereto.

[0437] For example, the first vertical drive unit (240AV) can be positioned at various locations (e.g., the side of the first leg massage unit (230A), the rotation hinge axis of the first leg massage unit (230A), between the first leg massage unit (230A) and the main frame (1100), the rear of the first leg massage unit (230A), etc.) that can rotate the first leg massage unit (230A) clockwise or counterclockwise. The arrangement, position, and driving method of the second vertical drive unit (240BV) can also be the same.

[0438] It is self-evident that terms such as up and down, front and back, vertical, horizontal, left and right, etc. used in the following description are only intended to present relative standards for describing embodiments of the present invention, and are not intended to specify any direction or position on an absolute basis, and of course, they may relatively vary depending on the position of the target object, the position or direction of view, etc.

[0439] Hereinafter, embodiments of the present invention will be described with the Z-axis direction (see FIG. 4 and FIG. 17) as the reference direction for up-down or vertical, and, from a corresponding viewpoint, embodiments of the present invention will be described with the X-axis direction as the reference direction for the front-back direction, and the Y-axis direction as the reference direction for the left or right. For example, a positive Z-axis direction corresponds to an upward, upward, upward, or corresponding direction, and a negative Z-axis direction corresponds to a downward, downward, downward, or corresponding direction.

[0440] In addition, based on the directional axis illustrated in FIG. 4, the XY plane or a plane parallel thereto becomes a reference plane on which the leg massage part (230A, 230B) rotates or moves in the horizontal direction, and the XZ plane or a plane parallel thereto becomes a reference plane on which the leg massage part (230A, 230B) rotates or moves in the vertical direction.

[0441] As described above, the leg massage unit (230A, 230B) can rotate up and down and the massage device (200) can tilt forward or backward, so that the leg massage unit (230A, 230B) rotates (moves) horizontally may include rotating (moving) based on the XY plane or a corresponding plane direction according to the angle, posture, etc. of the massage device (200) or / and the leg massage unit (230A, 230B).

[0442]

[0443] FIGS. 24 to 26 are block diagrams showing a detailed configuration of a massage device (200) according to one embodiment of the present invention, and FIG. 27 is a flowchart explaining a processing process according to one embodiment of the present invention.

[0444] As illustrated in FIG. 24, the massage device (200) of the present invention may include one or more of a body massage unit (210), a body driving unit (220), a leg massage unit (230A, 230B), a leg driving unit (240A, 240B), an arm massage unit (250A, 250B), an arm driving unit (260A, 260B), a control unit (270), and an interface unit (280).

[0445] Figures 24 to 26 are block diagrams of a massage device (200) for mainly explaining a second embodiment of the present invention. Therefore, it goes without saying that the massage device (200) of the present invention may additionally include other configurations described in the aforementioned embodiments in addition to the configurations illustrated in Figures 24 to 26, depending on the embodiment.

[0446] The components of the massage device (200) illustrated in FIG. 25 may be physically distinct components, but may also be functionally or logically distinct components.

[0447] That is, since each component illustrated in the above drawing corresponds to a component for effectively explaining the technical idea of ​​the present invention, even if each component is configured integrated or separated, if the function performed by the configuration of the present invention can be realized, it should be interpreted as being within the scope of the present invention, and of course, if it is a component that performs the same or similar function, it should be interpreted as being within the scope of the present invention regardless of whether the name is consistent.

[0448] In addition, the control method of the massage device according to the present invention can be implemented as a set or algorithm of processing related to data processing, handling, control, calculation, input / output, etc., and thus can be implemented in the form of software that is installed and operated in a device, computer (or a device equivalent thereto), module, or sub-component thereof.

[0449] The first leg massage unit (230A), which is a component of the massage device (200) according to the present invention, may be placed below the body massage unit (210) that massages at least a portion of the user's body. The second leg massage unit (230B) may also be placed below the body massage unit (210), and may be placed basically parallel to the first leg massage unit (230A) so as to conform to the human body structure.

[0450] The first arm massage unit (250A), which is a component of the massage device (200) according to the present invention, can be placed on the side of the body massage unit (210) and is placed at a position corresponding to the first leg massage unit (230A). The first arm massage unit (250A) can be configured to receive the user's arm (left arm or right arm) and perform various types and methods of massage movements on the received arm.

[0451] The second arm massage part (250B) is positioned on the side of the body massage part (210), specifically, on the opposite side to the first arm massage part (250A), so as to conform to the human body structure, and is positioned corresponding to the second leg massage part (230B).

[0452] The first leg driving unit (240A) of the present invention may be configured to perform a function of rotating or moving the first leg massage unit (230A) in two or more directions or expanding and contracting the first leg massage unit (230A) according to a user input signal, an internal algorithm for determining whether a preset condition is satisfied, or the specifications, function, etc. of the first leg massage unit (230A).

[0453] The first leg driving unit (240A) may include at least one of a first length adjusting unit (240AL) for adjusting the length of the first leg massage unit (230A) as described in the above-described embodiment and as exemplified in FIG. 25, a first vertical driving unit (240AV) for rotating (moving, tilting, etc.) the first leg massage unit (230A) in a vertical direction (up and down direction), and a second horizontal driving unit (240BH) for rotating (moving, tilting, etc.) the first leg massage unit (230A) in a horizontal direction (left and right direction).

[0454] The second leg drive unit (240B) may also include at least one of a second length adjustment unit (240BL) that adjusts the length of the second leg massage unit (230B) like the first leg drive unit (240A), a second vertical drive unit (240BV) that rotates (moves, tilts, etc.) the second leg massage unit (230B) in a vertical direction (up and down direction), and a second horizontal drive unit (240BH) that rotates (moves, tilts, etc.) the second leg massage unit (230B) in a horizontal direction (left and right direction).

[0455] If the first leg massage unit (230A) is a leg massage unit that receives the user's left leg, the rotation of the first leg massage unit (230A) to the left (based on the user riding the massage device (200)) may mean that the first leg massage unit (230A) rotates outward (abduction), and the rotation of the first leg massage unit (230A) to the right may mean that the first leg massage unit (230A) rotates inward (adduction).

[0456] From a corresponding perspective, the left and right rotations of the second leg massage unit (230B) (accommodating the user's right leg) may mean internal rotation (adduction) and external rotation (abduction), respectively.

[0457] In this respect, when the first leg massage part (230A) rotates to the left and the second leg massage part (230B) rotates to the right, the left and right legs move apart (away from or separated from each other), that is, the abduction movement of the leg massage parts (230A, 230B) occurs, and when the first leg massage part (230A) rotates to the right and the second leg massage part (230B) rotates to the left, the left and right legs move together (close to each other), that is, the internal rotation movement of the leg massage parts (230A, 230B) occurs.

[0458] The detailed configuration and functions of the second leg drive unit (240B) and the second leg drive unit (240B) can correspond to those of the first leg drive unit (240A), so the following description will focus on the first leg drive unit (240A).

[0459] The first arm massage unit (250A) of the present invention can also be configured to enable vertical rotation, horizontal rotation, and length adjustment by the first arm drive unit (260A), like the first leg massage unit (230A). The second arm massage unit (250B) is also similar to this.

[0460] The first and second leg massage units (230A, 230B) of this embodiment can correspond in detailed configuration to the leg massage units (2000A(B), 2001(2002)) described in the above-described embodiment, so that detailed information on their structure, operation, control, etc. is replaced with the description described above. The first and second leg driving units (240A, 240B) of this embodiment are also similar to this.

[0461] The body driving unit (220) of the present invention can be configured to adjust or change the position, posture, or angle of the body massage unit (210) according to a user input signal, an internal algorithm that determines whether a preset condition is met, or the specifications, function, etc. of the body massage unit (210).

[0462] According to the embodiment, the body driving unit (220) can change the position, posture, etc. of the body massage unit (210) so that the body massage unit (210) tilts forward so that the ease and safety of the process of the user leaving the massage device (200) can be improved.

[0463] In addition, the body drive unit (220) can change the position, posture, etc. of the body massage unit (210) so that the body massage unit (210) tilts backward (recline mode) to provide a more comfortable posture to the user or to secure sufficient space for movement, rotation, etc. of the leg massage unit (230A, 230B) and to prevent safety accidents, etc.

[0464] As previously discussed, the body driving unit (220) of the present invention can slide the body massage unit (210) forward or backward.

[0465] The body drive unit (220) of the present invention can be designed to be controlled by the control unit (270) of the present invention. It goes without saying that the first leg drive unit (240A) and the first vertical drive unit (240AV), the first horizontal drive unit (240AH) and the first length adjustment unit (240AL) included in the first leg drive unit (240A) can also be designed to be controlled by the control unit (270) of the present invention.

[0466] The control unit (270) of the present invention controls the relative movement of the first leg massage unit (230A) and the second leg massage unit (230B).

[0467] The relative motion described in the present invention refers to the motion relationship between the first leg massage unit (230A) and the second leg massage unit (230B), and means a motion relationship including various motions such as relative motion, independent motion, linked motion, and / or semi-linked motion of the first leg massage unit (230A) and the second leg massage unit (230B). Here, the motion may mean a motion related to rotation or length adjustment.

[0468] The present invention includes first and second leg massage parts (230A, 230B) each of which performs at least one of horizontal rotation (movement), vertical rotation (movement) and length adjustment, so that various combinations of length adjustment and angle adjustment (up and down or / and left and right) can be applied to provide the user with various forms and methods of movement or stretching, etc.

[0469] In particular, in the case of the massage device (200) according to one embodiment of the present invention, lower body exercise and lower body stretching can be provided with the basic movements of leg spreading and leg gathering, so that the buttock muscles including the gluteus maximus, gluteus medius, and gluteus minimus can be strengthened or relaxed without putting a strain on the knees or waist, and the adductor muscles on the inside of the thigh and the muscles of the hip joint area can be strengthened or relaxed.

[0470] In addition, as described later, when the user's own power (mobility) is induced to be applied, the effect of exercise or stretching can be further enhanced, and furthermore, the activity of the thigh muscles, which are large muscles, can be intensively induced, so that in addition to the basic effects such as muscle strengthening, it can also provide significant benefits such as controlling blood sugar levels after a meal.

[0471] As illustrated in FIG. 27, when an operation (hereinafter referred to as a 'swing operation') in which at least one of the first leg massage unit (230A) and the second leg massage unit (230B) rotates or moves relative to the horizontal direction is initiated (S110), the control unit (270) of the present invention generates a control signal for the swing operation based on a default setting environment or a setting environment variably set by the user (S120), and outputs the generated control signal (the first (2) control signal) to the first horizontal driving unit (240AH) or / and the second horizontal driving unit (240BH) (S130A, S130B).

[0472] The initiation of the swing motion (S110) can be accomplished by a method in which an initiation signal is input through a user input unit (1400), etc., and can be accomplished by various methods, such as being configured to be automatically accomplished when the set conditions for initiation of the swing motion are met.

[0473] The first (2) horizontal drive unit (240AH, 240BH) performs a drive to rotate (move, tilt, etc.) the first (2) leg massage unit (230A, 240BH) horizontally according to the first (2) control signal input from the control unit (270) (S140A, S140B).

[0474] The control unit (270) of the present invention can control the massage device (200) to perform a preliminary operation mode (pre mode) in which, prior to driving the swing motion, a light intensity massage is performed on the arms, legs, body, neck, spine, etc. through the massage device (200) to relieve tension, relax muscles, expand the range of motion, promote stability, and increase joint flexibility.

[0475]

[0476] Figure 28 is a flowchart explaining a processing process according to one embodiment of the present invention that implements a swing motion.

[0477] As illustrated in FIG. 28, when a start signal for a swing motion is input (S200), the control unit (270) of the present invention can control the first leg massage unit (230A) to rotate in a first direction (e.g., leftward (counterclockwise)) and the second leg massage unit (230B) to rotate in a second direction (e.g., rightward (clockwise)) (S210).

[0478] According to an embodiment, the control unit (270) of the present invention can control the first leg massage unit (230A) and the second leg massage unit (230B) to move or rotate to a default position and then perform a swing motion. The default position may be a position in which both leg massage units (230A, 230B) are aligned in front of a user riding the massage device (200).

[0479] The control unit (270) of the present invention controls the rotation direction of the first leg massage unit (230A) and the second leg massage unit (230B) to be changed (S230) when one cycle of the above-described processing (S210) is completed (S220).

[0480] A single cycle can be determined based on the physical specifications of the leg massage unit (230A, 230B) or the massage device (200), user settings, etc., when the leg massage unit (230A, 230B) reaches a horizontal rotation range (for example, 60 degrees based on the rotation path, etc.).

[0481] For example, the control unit (270) of the present invention controls the first leg massage unit (230A) located at the default position, etc. to rotate in the left direction (counterclockwise), and controls the second leg massage unit (230B) located at the default position, etc. to rotate in the right direction (clockwise) (S210), and then, when the rotation angle of the leg massage units (230A, 230B) corresponds to 60 degrees (S220), controls the rotation direction of each leg massage unit (230A, 230B) to be switched (S230), so that the first leg massage unit (230A) rotates in the right direction (clockwise), and the second leg massage unit (230B) rotates in the left direction (counterclockwise) (S210).

[0482] It is preferable that the range of rotation or movement of the leg massage part (230A, 230B) by the swing motion be automatically set using DB-ized user information (identification information, etc.), measured user's body information, etc., or be variably set by a method such as a user selecting using the interface part (the user input part (1400) described above) (280).

[0483] Since the available range of the body or the location / angle of pain may vary depending on the user's characteristics, symptoms, and injured area, if the rotation (movement) range by the swing motion is adjusted according to the user's choice, it can have higher user orientation.

[0484] Here, user information may be various pieces of information that can be stored in a database, such as one or more pieces of information about the user's age, gender, age, symptoms, or injured area. Furthermore, the user's body information may be information stored in a database in advance, or may be information about the user's body size measured by a measuring device equipped in the massage device (200).

[0485] The angular range of rotation of the leg massage unit (230A, 230B) can be variably set by providing an input environment such as a scroll that can determine the rotation or movement range through the interface unit (280) and allowing the user to select based on this, or by providing guidance information on the rotation range through the audio output module (1500) and allowing the user to select based on voice recognition, etc.

[0486] The processing steps illustrated in Fig. 28 may be applied cyclically if preset termination conditions such as logout, forced termination, system down, or occurrence of an emergency event are not met (S240).

[0487] In this way, the control unit (270) of the present invention controls the leg massage units (230A, 230B) to rotate (move, etc.) in a horizontal direction, and controls the rotation (movement, etc.) directions of the leg massage units (230A, 230B) to alternate, thereby allowing the first and second leg massage units (230A, 230B) to move away from each other in the horizontal direction and the first and second leg massage units (230A, 230B) to move closer to each other to be repeated.

[0488] The control unit (270) of the present invention can be configured to generate counting information for a swing motion using information on the number of times the rotation (movement, etc.) direction is alternated.

[0489] When counting information is generated in this way, the control unit (270) of the present invention can control the counting information to be displayed to the user using a visual medium and / or an auditory medium, and when the counting information corresponds to the number of times information entered or set by the user, etc., can control the output of guidance information therefor.

[0490] In a case where the swing motion is performed only in one of the leg massage parts (230A, 230B) due to the user's selection or the like, depending on the embodiment, the control part (270) of the present invention can control the position of the leg massage part that is not the target of the swing motion to be fixed.

[0491] In this way, when the position of the leg massage part that is not the target of the swing movement is controlled to be fixed and only a specific leg massage part is controlled to rotate or move horizontally, not only can the effect of exercise or stretching be induced to be more concentrated on a specific leg, but leg exercise or stretching can also be effectively implemented even when a specific leg is injured, etc.

[0492]

[0493] Figure 29 is a flowchart explaining a processing process in which a first mode is performed according to one embodiment of the present invention.

[0494] The embodiment of the present invention described below can implement rotational movement of the user's legs in three dimensions by organically combining the horizontal rotation (movement, etc.) of the leg massage unit (230A, 230B) described above with the vertical rotation (movement, etc.) of the leg massage unit (230A, 230B), and corresponds to an operation or mode (hereinafter referred to as 'first mode') that can time-variant the muscle area being stimulated.

[0495] The control unit (270) of the present invention may be configured to control at least one of the first horizontal driving unit (240AH), the first vertical driving unit (240AV), the second horizontal driving unit (240BH), and the second vertical driving unit (240BV) so that at least one of the first leg massage unit (230A) and the second leg massage unit (230B) rotates or moves in a three-dimensional space direction (a combined direction of the horizontal direction (left-right direction) and the vertical direction (up-down direction)).

[0496] The control unit (270) of the present invention can control the body drive unit (220) to ensure sufficient space for rotation or movement of the leg massage unit (230A, 230B) before the first mode is initiated and to control the body massage unit (210) to perform a recline operation in which the body massage unit (210) tilts backward by a preset reference angle to prevent safety accidents from occurring (S300).

[0497] When the first mode is initiated, the control unit (270) of the present invention controls the first horizontal drive unit (240AH) to control the first leg massage unit (230A) to rotate (move, etc.) in the first direction (or the second direction), and controls the second horizontal drive unit (240BH) to control the second leg massage unit (230B) to rotate in the second direction (or the first direction) (S310).

[0498] The first direction and the second direction, which are the directions in which the leg massage parts (230A, 230B) rotate relative to the horizontal direction, are only intended to represent that the rotation directions of the first leg massage part (230A) and the second leg massage part (230B) are opposite to each other, and do not mean a specific direction of an absolute standard.

[0499] As described above, the opposite rotation directions of the first leg massage part (230A) and the second leg massage part (230B) (e.g., clockwise (counterclockwise) vs. counterclockwise (clockwise)) mean that both the first and second leg massage parts (230A, 230B) rotate outward or both rotate inward, that is, the leg massage parts (230A, 230B) perform an abduction movement or an internal rotation movement.

[0500] Depending on the current position of the leg massage unit (230A, 230B), the user's selection, or the default setting, the internal rotation movement (movement in which both legs are brought together in an internal direction, internal rotation) may be configured to precede the external rotation movement (movement in which both legs are spread out in an external direction, external rotation), and vice versa, the external rotation movement (external rotation) may be configured to precede the internal rotation movement (internal rotation).

[0501] If the movement of the leg massage part (230A, 230B) to the default position is preceded as described above, the external rotation movement can be configured to precede the internal rotation movement.

[0502] The control unit (270) of the present invention can control the first horizontal drive unit (240AH) and the first vertical drive unit (240AV) so that the horizontal outer rotation (movement, etc.) of the first leg massage unit (230A) and the upward rotation (movement, etc.) of the first leg massage unit (230A) are linked.

[0503] In addition, the control unit (270) of the present invention can control the first horizontal drive unit (240AH) and the first vertical drive unit (240AV) so that the horizontal inward rotation (movement, etc.) of the first leg massage unit (230A) and the downward rotation (movement, etc.) of the first leg massage unit (230A) are linked.

[0504] From a corresponding viewpoint, the control unit (270) of the present invention can control the second horizontal drive unit (240BH) and the second vertical drive unit (240BV) so that the horizontal outer rotation (movement, etc.) of the second leg massage unit (230B) and the upward rotation (movement, etc.) of the second leg massage unit (230B) are linked, or the horizontal inner rotation (movement, etc.) of the second leg massage unit (230B) and the downward rotation (movement, etc.) of the second leg massage unit (230B) are linked.

[0505] Specifically, as illustrated in FIG. 29, the control unit (270) of the present invention controls at least one of the first vertical drive unit (240AV) and the second vertical drive unit (240BV) so that the leg massage unit rotating in the external rotation direction rotates (moves, etc.) upward when the direction in which the leg massage unit (230A, 230B) rotates relative to the horizontal plane or the horizontal direction is the external rotation direction (outward direction) (S320) (S330A).

[0506] In addition, when the direction in which the leg massage unit (230A, 230B) rotates relative to the horizontal plane or the horizontal direction is the internal rotation direction (inward direction) (S320), the control unit (270) of the present invention controls at least one of the first vertical drive unit (240AV) and the second vertical drive unit (240BV) so that the leg massage unit rotating in the internal rotation direction rotates (moves, etc.) downward (S330B).

[0507] In Fig. 29, processing steps S330A and S330B, which are vertically rotating processing steps, are shown as subsequent processing steps of S310, which is a horizontally rotating processing step of the leg massage unit (230A, 230B).

[0508] However, since this is only a division of steps for the sake of efficiency in explanation and understanding, horizontal rotation and vertical rotation may occur simultaneously depending on the embodiment, or vertical rotation may occur first. In the case of an embodiment in which vertical rotation occurs first, the leg massage part (230A, 230B) that rotates upward may be controlled to rotate in the abduction direction, and the leg massage part (230A, 230B) that rotates downward may be controlled to rotate in the adduction direction.

[0509] In this embodiment of the present invention, the rising and outward spreading of the leg massage parts (230A, 230B) are implemented as a pair of movements, and the lowering and inward gathering of the leg massage parts (230A, 230B) are implemented as a pair of movements.

[0510] Therefore, the movement of the user's legs spreading and coming together is performed in a more expanded three-dimensional space, which can further enhance the effects related to lower body exercise or stretching, and can stimulate more muscle areas or induce a wider range of muscle activity compared to movements that rotate (move) the legs only in the horizontal or vertical direction.

[0511] A massage device (200) according to one embodiment of the present invention may include a first leg air cell (232A) provided in a first leg massage unit (230A) and / or a second leg air cell (232B) provided in a second leg massage unit (230B).

[0512] In this case, the control unit (270) of the present invention can control the expansion or contraction of one or more of the first and second leg air cells (232B) to be linked to the swing motion or / and processing by the first mode.

[0513] The swing motion itself or the first mode including the swing motion causes changes in the position, angle, posture, etc. of the leg massage part (230A, 230B), so when the expansion and contraction of the first leg air cell (232A) provided in the first leg massage part (230A) and / or the second leg air cell (232B) provided in the second leg massage part (230B) are linked to the processing by the swing motion or / and the first mode, safety accidents or injuries can be effectively prevented, and the exercise and stretching effects can also be further enhanced.

[0514] When the air cell expands, play, etc., can be suppressed, so that the body part that comes into contact with the air cell is firmly supported, and when the air cell contracts, the support is released, so that the degree of freedom of the body part can be relatively increased.

[0515] When the first or second leg massage unit (230A, 230B) rotates outward (moves, etc.) with respect to the horizontal direction or performs a three-dimensional rotation (movement) related thereto, the user's legs move away from the center of the user's body or spread outward with respect to the basic sitting posture.

[0516] Therefore, when the first or second leg massage part (230A, 230B) rotates (moves, etc.) outwardly with respect to the horizontal direction, rotates (moves, etc.) upwardly with respect to the vertical direction, or rotates outward and upward together, if the control part (270) of the present invention controls the first or / and second leg air cells (232A, 232B) to expand (S340A), leg rotation (moves, etc.) that moves away or apart while the leg area is firmly supported can be induced, thereby further enhancing the effect of leg stretching, etc.

[0517] From a corresponding viewpoint, when the first or second leg massage unit (230A, 230B) rotates (moves, etc.) inwardly relative to the horizontal direction, rotates (moves, etc.) downwardly relative to the vertical direction, or rotates inwardly and downwardly at the same time, if the control unit (270) of the present invention controls the first or / and second leg air cells (232A, 232B) to contract (S340B), the solid support state is released, so that injury can be prevented and tensed muscles can be effectively relaxed.

[0518] In this way, by organically reflecting the rotational direction of the corresponding leg massage part (230A, 230B) and cyclically controlling the expansion and control of the corresponding leg air cell (231A, 231B) in a time series manner, muscle stimulation (tension, etc.) and muscle relaxation, etc. according to length extension, can be induced to occur repeatedly.

[0519] In Fig. 29, processing for expansion or contraction of the leg air cell (232A, 232B) is illustrated as a subsequent processing of processing for rotation of the leg massage part (230A, 230B) (S310, S330).

[0520] This is also for the purpose of effective explanation of each step as described above, so that, depending on the embodiment, expansion or contraction control of the leg air cells (232A, 232B) may be performed together with horizontal rotation or / and vertical rotation, or expansion and contraction control of the leg air cells (232A, 232B) may be performed before such rotation (horizontal or / and vertical direction).

[0521] As described with reference to FIG. 28, when one cycle of rotation of the leg massage unit (230A, 230B) is completed (S350), the control unit (270) of the present invention controls the rotation direction of the leg massage unit (230A, 230B) of the n+1 (n is a natural number greater than or equal to 1) cycle to be opposite to the rotation direction of the leg massage unit (230A, 230B) of the nth cycle (S360). Through this configuration, internal rotation movement (leg lowering) and external rotation movement (leg raising) are repeatedly performed.

[0522] According to an embodiment, the massage device (200) of the present invention may include an air cell (290) provided at a location corresponding to the user's waist or pelvic area.

[0523] The control unit (270) of the present invention can control the air cell (290) to expand when the first leg massage unit (230A) and the second leg massage unit (230B) rotate (move, etc.) in the same direction with respect to the horizontal direction (horizontal plane), that is, when both the first leg massage unit (230A) and the second leg massage unit (230B) rotate in the first direction (counterclockwise, leftward, etc.) or both rotate in the second direction (clockwise, rightward, etc.).

[0524] In the case of abduction or adduction, the possibility of the user's body's center of gravity being loose or twisted is relatively low because the two legs have opposite rotation directions. On the other hand, if both legs rotate in the same direction, the possibility of the user's body's center of gravity being loose or shaking is relatively high, which can put a strain on the lower back and other areas, leading to the risk of injury.

[0525] In the case of the embodiment of the present invention described above, the waist or pelvic area can be physically and firmly supported by the expansion of the air cell (290), thereby preventing injury and enhancing the effect of exercise or stretching by rotating both legs in the same direction.

[0526]

[0527] Figure 30 is a flowchart explaining a processing process in which a second mode is performed according to one embodiment of the present invention.

[0528] The embodiment of the present invention described below corresponds to an operation or mode (hereinafter referred to as the 'second mode') that can more effectively enhance the moving characteristic according to the rotation direction of the user's leg by organically combining the horizontal rotation (movement, etc.) of the leg massage part (230A, 230B) described above with the length adjustment or control of the leg massage part (230A, 230B).

[0529] The control unit (270) of the present invention may be configured to control at least one of the first horizontal driving unit (240AH), the first length adjusting unit (240AL), the second horizontal driving unit (240BH), and the second length adjusting unit (240BL) so that the horizontal rotation of at least one of the first leg massage unit (230A) and the second leg massage unit (230B) and the length extension (extension) or reduction (contraction) of the corresponding leg massage unit (230A, 230B) are linked.

[0530] The control unit (270) of the present invention can control the body drive unit (220) to ensure sufficient space for rotation or movement of the leg massage unit (230A, 230B) before the second mode is initiated and to control the body massage unit (210) to perform a recline operation in which the body massage unit (210) tilts backward by a predetermined reference angle to prevent safety accidents from occurring (S400).

[0531] When the second mode is initiated, the control unit (270) of the present invention controls the first horizontal drive unit (240AH) to control the first leg massage unit (230A) to rotate (move, etc.) in the first direction (or the second direction), and controls the second horizontal drive unit (240BH) to control the second leg massage unit (230B) to rotate in the second direction (or the first direction) (S410).

[0532] The first and second directions in which the leg massage parts (230A, 230B) rotate relative to the horizontal direction, the order of internal rotation and external rotation, and the movement of the leg massage parts (230A, 230B) to the default position before the second mode is performed correspond to the contents described in the first mode above, so a detailed description thereof will be omitted.

[0533] The control unit (270) of the present invention can control the first horizontal drive unit (240AH) and the first length adjustment unit (240AL) so that the horizontal outer rotation (movement, etc.) of the first leg massage unit (230A) and the length adjustment of the first leg massage unit (230A) are linked, or the horizontal inner rotation (movement, etc.) of the first leg massage unit (230A) and the length adjustment of the first leg massage unit (230A) are linked.

[0534] From a corresponding viewpoint, the control unit (270) of the present invention can control the second horizontal drive unit (240BH) and the second length adjustment unit (240BL) so that the horizontal outer rotation (movement, etc.) of the second leg massage unit (230B) and the length adjustment of the second leg massage unit (230B) are linked, or the horizontal inner rotation (movement, etc.) of the second leg massage unit (230B) and the length adjustment of the second leg massage unit (230B) are linked.

[0535] Specifically, as illustrated in FIG. 30, the control unit (270) of the present invention controls at least one of the first length adjustment unit (240AL) and the second length adjustment unit (240BL) so that the length of the leg massage unit rotating in the abduction direction increases when the direction in which the leg massage unit (230A, 230B) rotates relative to the horizontal plane or horizontal direction is the abduction direction (outward direction) (S420) (S430A).

[0536] In addition, when the direction in which the leg massage unit (230A, 230B) rotates relative to the horizontal plane or the horizontal direction is the internal rotation direction (inner direction) (S420), the control unit (270) of the present invention controls at least one of the first length adjustment unit (240AL) and the second length adjustment unit (240BL) so that the length of the leg massage unit rotating in the internal rotation direction is reduced (S430B).

[0537] In Fig. 30, step S430 (S430A, S430B) is depicted as a subsequent processing of step S410, but the chronological relationship of these processings may be an example for effectively explaining the processing process of the present invention, as discussed above in the first mode.

[0538] In this embodiment of the present invention, the length increase and the outer opening of the leg massage part (230A, 230B) are implemented as a pair of operations, and the length decrease and the inner gathering of the leg massage part (230A, 230B) are implemented as a pair of operations.

[0539] That is, in the case of the second mode, the leg length is configured to change depending on the posture or position of each leg, so that the intensity of changes such as muscle extension and contraction, muscle tension (stimulation) and relaxation can be increased, and thereby the effect related to lower body exercise or lower body stretching can be further increased.

[0540] The control unit (270) of the present invention can control the expansion or contraction of at least one of the first and second leg air cells (232B) to be linked to processing by the second mode.

[0541] The control unit (270) of the present invention controls the first and / or second leg air cells (232A, 232B) to expand so that muscle lengthening or muscle tension is strengthened when the leg massage unit (230A, 230B) rotates outward or / and the length of the leg massage unit (230A, 230B) increases (S440A).

[0542] From a corresponding viewpoint, the control unit (270) of the present invention controls the first and / or second leg air cells (232A, 232B) to contract so that muscle contraction or muscle relaxation is strengthened when the leg massage unit (230A, 230B) rotates inward or the length of the leg massage unit (230A, 230B) decreases (S440B).

[0543] In this way, by organically reflecting the rotation direction or / and the length change direction of the corresponding leg massage part (230A, 230B) and the expansion and control of the corresponding leg air cell (231A, 231B) in a time series manner, muscle stimulation or tension and muscle relaxation according to length extension can be induced to occur repeatedly.

[0544] The control step (S440A, S440B) for expansion / contraction of the bridge air cell (232A, 232B) may be performed together with the step S410 or the step S430 (S430A, S430B) or may precede the step S410 or the step S430 (S430A, S430B), as exemplified in FIG. 30, as described above in the first mode.

[0545] As described above in the first mode, when one cycle of rotation of the leg massage unit (230A, 230B) is completed (S450), the control unit (270) of the present invention switches the rotation direction of the leg massage unit (230A, 230B) so that the rotation direction of the leg massage unit (230A, 230B) becomes opposite in the next cycle (S460). Through this configuration, internal rotation movement (reduction of leg length) and external rotation movement (increase of leg length) are repeatedly performed.

[0546] Depending on the embodiment, processing in which the first mode illustrated in FIG. 29 and the second mode illustrated in FIG. 30 are organically grafted may also be applied.

[0547] To this end, the control unit (270) of the present invention can control at least one of the first horizontal drive unit (240AH), the first vertical drive unit (240AV), the first length adjustment unit (240AL), the second horizontal drive unit (240BH), the second vertical drive unit (240BV), and the second length adjustment unit (240BL) so that the outer rotation, upward rotation, and length increase of the leg massage unit (230A, 230B) are linked, and the inner rotation, downward rotation, and length decrease of the leg massage unit (230A, 230B) are linked.

[0548]

[0549] Figure 31 is a flowchart illustrating a processing process according to one embodiment of the present invention utilizing dynamic force. The embodiment of the present invention illustrated in Figure 31 corresponds to an embodiment that can further enhance the effectiveness of leg exercise by rotating or moving the leg massage unit (230A, 230B) in a direction corresponding to the force applied by the user.

[0550] A massage device (200) according to one embodiment of the present invention may include at least one of a first detection sensor (231A) that detects force (hereinafter referred to as “actuating force”) applied by a user’s leg portion accommodated in a first leg massage unit (230A) and a second detection sensor (231B) that detects force applied by a user’s leg portion accommodated in a second leg massage unit (230B).

[0551] As illustrated in FIG. 31, the control unit (270) of the present invention can be configured to initiate a swing motion (e.g., first mode, second mode, and third mode described below) when a detection signal is input from a detection sensor (231A, 231B) (S500), i.e., when the user's force is detected.

[0552] In order to induce a practical exercise effect, as illustrated in Fig. 31, it is preferable that the control unit (270) of the present invention control the swing motion to be initiated only when the size of the detection signal input from the detection sensor (231A, 231B) is greater than or equal to the first reference value (S510) (S520).

[0553] In this way, when a detection signal is input from a detection sensor (231A, 231B) or the detection signal is greater than or equal to the first reference value, the control unit (270) of the present invention controls a swing motion, etc. to occur, and controls the swing motion, etc. to occur in a direction corresponding to the direction in which the operating force is applied (S520).

[0554] When the user applies force to move the user's leg portion (at least one of the left leg and the right leg) in a specific direction (e.g., clockwise) while the user's leg portion is accommodated in the leg massage portion (230A, 230B), force is applied to the leg massage portion (230A, 230B) etc. by the user's leg portion. The detection sensor (231A, 231B) of the present invention can be configured to detect the force applied by the user's leg portion in this way.

[0555] Therefore, the detection sensors (231A, 231B) of the present invention can be installed in multiple locations (upper, lower, left, right, etc.) of the leg massage unit (230A, 230B) so as to effectively detect the direction of the operating force applied to the user's leg area.

[0556] In order to accurately reflect the time-series trend in which the force (driving force) applied by the user changes over time, the control unit (270) of the present invention can control the rotation or movement of the leg massage unit (230A, 230B) to stop (S540) when the size of the detection signal input from the detection sensor (231A, 231B) becomes lower than the first reference value (S530) after the swing motion or the like is initiated, that is, when the leg massage unit (230A, 230B) is rotated or moved.

[0557] If the leg massage part (230A, 230B) is controlled to rotate even when no operating force is applied or an operating force less than an appropriate amount is applied, the user's leg area may be pulled by the arm massage part (110) and rotate or move.

[0558] In this respect, the first reference value can be said to be information for inducing actual exercise effects or a sense of accomplishment from exercise. The first reference value can be variably set using user characteristic information (gender, age, weight, height, etc.) that can be stored in a database in the storage unit (1300) of the above-described embodiment, and can also be set in a manner in which the user selects or inputs the information.

[0559] According to the embodiment, when the size of the detection signal (size of the driving force) is maintained at or above the first reference value and the size of the detection signal gradually decreases or approaches the first reference value, the control unit (270) of the present invention can control the interface unit (280) to output guidance information such as encouraging movement.

[0560] Meanwhile, when a relatively weak operating force is applied, that is, when the size of the detection signal output by the detection sensor (231A, 231B) is small, the rotation or movement of the leg massage part (230A, 230B) can be controlled to be light, and when a relatively strong operating force is applied, the rotation or movement of the arm massage part (110) can be controlled to be heavy.

[0561] That is, the control unit (270) of the present invention can be configured to determine the rotation or movement speed of at least one of the first leg massage unit (230A) and the second leg massage unit (230B) based on the magnitude of the operating force (S525).

[0562] According to an embodiment, when a strong force (driving force) exceeding a specific value is detected by a detection sensor (231A, 231B) or when a high-intensity exercise mode is selected by a user, etc., the control unit (270) of the present invention can control the first leg driving unit (240A) and / or the second leg driving unit (240B) so that the leg massage unit (230A, 230B) rotates or moves at a speed inversely proportional to the size of the detection signal.

[0563] When configured in this manner, it can induce the user to continuously apply strong force and provide an effect substantially identical to the effect of rotating or moving a heavy weight, etc.

[0564] It is preferable that the control processing of the present invention illustrated in FIG. 31 be configured to be applied cyclically if a preset termination condition such as a log-out, forced termination, system down, or occurrence of an emergency event is not met (S550).

[0565]

[0566] Fig. 32 is a diagram illustrating a processing process according to one embodiment of the present invention utilizing reverse driving. The embodiment of the present invention illustrated in Fig. 32 corresponds to an embodiment (leg stretching mode) that can further enhance the effect of leg stretching by rotating or moving the leg massage unit (230A, 230B) in the reverse direction of the force applied by the user.

[0567] The control unit (270) of the present invention can control the interface unit (280) to output guidance information that guides the application of force in a specific direction (S600).

[0568] The interface unit (160) of the present invention outputs guidance information for guiding the application of force in a specific direction to a leg area accommodated in the first leg massage unit (230A) or / and the second leg massage unit (230B) based on a control signal input from the control unit (270) (S600).

[0569] The control unit (270) of the present invention controls the first leg driving unit (240A) and / or the second leg driving unit (240B) so that the swing motion described above is performed in a direction opposite to the specific direction after the above guidance information is output (S620).

[0570] The specific direction included in the guidance information may be a left-right direction based on the horizontal direction, an up-down direction based on the vertical direction, or a three-dimensional direction that combines the horizontal and vertical directions.

[0571] The massage device (200) according to the present invention may be equipped with a plurality of leg massage parts (230A, 230B), and as described in the above-described embodiment, the left and right leg massage parts may be configured to operate independently or relative to each other.

[0572] Therefore, the above specific direction may be a common direction for the leg massage parts (230A, 230B), a mutually symmetrical direction for each leg massage part (230A, 230B), or a different direction for each leg massage part (230A, 230B).

[0573] For example, the above guidance information may be information guiding to apply force to both legs in the left (right) direction, information guiding to apply force in the direction of spreading both legs apart, information guiding to apply force in the direction of bringing both legs together, information guiding to apply force to both legs in the upward 45 degree outward direction, or information guiding to apply force to the left leg in the upper right direction and the right leg in the lower left direction.

[0574] In this way, when the leg massage part (230A, 230B) rotates or moves in a direction opposite to the direction in which force is applied to the user through the guidance information, appropriate resistance or load is formed in the leg area, and since the leg massage part (230A, 230B) rotates or moves in a direction opposite to the applied force, resistance to rotation or movement is naturally induced in the leg area, so that appropriate tension in the muscles can be strengthened or maintained, thereby further enhancing the effect of leg stretching.

[0575] When the leg massage unit (230A, 230B) rotates or moves while the user does not actually apply force in a specific direction or applies force smaller than a standard amount in a specific direction, the user's leg area may move passively or dependently on the rotation or movement of the leg massage unit (230A, 230B), so the leg stretching effect described above may not be achieved or may be reduced.

[0576] To this end, it is preferable that the control unit (270) of the present invention controls the first leg driving unit (240A) and / or the second leg driving unit (240B) so that the leg stretching mode is performed (S620) only when a driving force in a specific direction is detected (S610) or when the force in the specific direction is greater than a reference value (S630) by using a detection signal input from a detection sensor (231A, 231B) that detects a force applied by a leg part.

[0577] In addition, in order to organically integrate the resistance strength of the leg muscles, etc. into the leg stretching mode, the control unit (270) of the present invention can control the leg driving unit (240A, 240B) so that the speed at which the leg massage unit (230A, 230B) rotates or moves in a direction opposite to the specific direction is linked to the detection signal when a strong force exceeding a specific value is detected or the high-intensity leg stretching mode is selected by the user, etc. (S625).

[0578] In order to accurately reflect the time-series trend in which the user's operating power changes over time, the control unit (270) of the present invention can control the rotation or movement of the leg massage unit (230A, 230B) to stop (S650) when the size of the detection signal input from the detection sensor (231A, 231B) becomes lower than the first reference value (S630) after the leg stretching mode is started, that is, when the leg massage unit (230A, 230B) is in a state of rotation or movement.

[0579] In this case, a step (S640) may be added to output guidance information that induces or encourages a stronger external force to enhance the actual effect of leg stretching and to ensure that leg stretching can be maintained continuously. Even after guidance information to this effect is output, if the detection signal, i.e., the magnitude of the operating force, is still smaller than the first reference value, the control unit (270) of the present invention may control the rotation or movement of the leg massage unit (230A, 230B) to be stopped (S650).

[0580] If the leg stretching mode continues even though the magnitude of the operating force is smaller than the first reference value, there may be a risk of injury or a safety accident. Therefore, as described above, it may be desirable to configure the leg massage unit (230A, 230B) to stop rotating or moving when the magnitude of the operating force is smaller than the first reference value.

[0581] The history information, which is information that is interrelated with each other, such as the start or end point of the above-described leg stretching mode, the time-series size (size of the detection signal) of the operating force detected from the detection sensor (231A, 231B) during the leg stretching mode, and the amount of energy consumed by the operation of the leg stretching mode, can be stored in the storage unit (1300) of the present invention so that it can be used as raw data for the stretching history.

[0582] The information on the above energy consumption can be calculated using a function that uses the size of the external force, the time the external force was applied, and the user's weight information, and depending on the embodiment, information on calories consumed can also be included in the history information.

[0583] According to the embodiment, the above history information may be configured to be output to an interface unit (280) or the like in a GUI (Graphic User Interface) environment or transmitted to a user terminal or the like.

[0584] It goes without saying that the processing for the above-described leg stretching mode can also be applied cyclically (S660).

[0585] According to an embodiment, the control unit (270) of the present invention may control one or more of the first and second horizontal driving units (240AH, 240BH) so that a stop operation (hereinafter referred to as a 'support mode') in which the rotation or movement of one or more of the first and second leg massage units (230A, 230B) is stopped for a reference time is performed one or more times during the process of controlling the swing operation to be performed in a direction opposite to a specific direction guided in the guidance information as described above.

[0586] The time period at which the support mode is initiated (e.g., every 15 seconds), the duration for which the support mode continues (e.g., 3 seconds), and the number of times the support mode is repeated (e.g., 3 times) may be variably set according to user information, etc. or may be adjusted by the user through the user input unit (1400), etc.

[0587] In the case of the embodiment configuration of the present invention, the degree of tension of the muscles in the leg area can be differentiated in a time series manner and changes in the external force applied by the user can be induced, so that leg exercise or stretching can be implemented in three dimensions, and isometric exercise such as the plank movement can be implemented by applying force to a specific position where the muscles are contracted and holding on.

[0588]

[0589] Figure 33 is a drawing explaining a processing process in which a third mode is performed according to one embodiment of the present invention.

[0590] The embodiment of the present invention illustrated in FIG. 33 is an embodiment of an operation or mode (hereinafter referred to as the 'third mode') that induces a motion or movement corresponding to the actual behavioral characteristics of the human body structure (legs) according to a bicycle riding (cycling) motion, etc., by causing the first leg massage part (230A) and the second leg massage part (230B) to rotate or move in different directions with respect to the up-down direction when the first leg massage part (230A) and the second leg massage part (230B) are spaced apart from each other, i.e., when the leg massage parts (230A, 230B) are spread outward.

[0591] The control unit (270) of the present invention controls the first horizontal driving unit (240AH) and the second horizontal driving unit (240BH) to control the first leg massage unit (230A) and the second leg massage unit (230B) to rotate outward with respect to the horizontal direction (S700).

[0592] Thereafter, the control unit (270) of the present invention controls the first vertical drive unit (240AV) of the first leg drive unit (240A) and the second vertical drive unit (240BV) of the second leg drive unit (240B) to rotate (move, etc.) one of the first leg massage unit (230A) and the second leg massage unit (230B) in the third direction and the other in the fourth direction (S710).

[0593] Here, the third direction corresponds to either the upward or downward direction based on the vertical direction, and the fourth direction refers to a direction other than the third direction among the upward or downward directions.

[0594] For example, the control unit (270) of the present invention controls the first leg massage unit (230A) to rotate upward and the second leg massage unit (230B) to rotate downward when the first leg massage unit (230A) and the second leg massage unit (230B) are spread outward.

[0595] As in the previously described embodiment, the control unit (270) of the present invention can control the body drive unit (220) so that the recline operation in which the body massage unit (210) tilts backward by a preset reference angle precedes step S700 or step S710 in order to secure sufficient space and prevent safety accidents.

[0596] The control unit (270) of the present invention controls at least one of the first length adjustment unit (240AL) and the second length adjustment unit (240BL) to control the length of the leg massage unit that rotates upward among the first leg massage unit (230A) and the second leg massage unit (230B) to increase, and to control the length of the leg massage unit that rotates downward to decrease (S720, S730A, S730B).

[0597] Through the control of the control unit (270) as described above, the length of the leg that goes up decreases, and the length of the leg that goes down increases, so that a moving motion corresponding to the actual leg movement characteristics that occur when riding a bicycle (cycling) can be induced.

[0598] In order to further enhance the effect of exercise and stretching according to the cycling mode (third mode), the leg air cells provided in the leg massage section (230A, 230B) whose length decreases among the first leg air cells (232A) and the second leg air cells (232B) can be controlled to contract (S740A), and the leg air cells provided in the leg massage section (230A, 230B) whose length decreases can be controlled to expand (S740B).

[0599] Through this configuration, the legs accommodated in the leg massage parts (230A, 230B) that rotate (move, etc.) downward among the leg massage parts (230A, 230B) or / and the leg massage parts (230A, 230B) that increase in length are supported firmly by the leg air cells (232A, 232B) while receiving an external force that causes them to go down or extend in length, thereby enhancing the exercise and stretching effects.

[0600] In addition, through differential control of expansion and contraction of the leg air cells (232A, 232B), the leg massage part (230A, 230B) that rotates (moves, etc.) upward among the leg massage parts (230A, 230B) or / and the leg massage part (230A, 230B) that decreases in length is received by the leg air cells (232A, 232B), so that the firm support provided by the leg air cells (232A, 232B) is released, and thus muscle relaxation or tension relief can be more effectively induced during the process of the leg being raised.

[0601] In order to correspond to the movement of both legs in cycling, the control unit (270) of the present invention controls the rotation direction of the first leg massage unit (230A) and the second leg massage unit (230B) to be switched in the third and fourth directions so that the rotation direction is alternated when one cycle of the third mode is completed (S750) as described above (S760).

[0602] The cycling mode described above is performed with both legs apart, so it can stimulate more muscles and more deeply compared to actual cycling, thereby further enhancing the exercise effect or stretching effect of cycling.

[0603] According to an embodiment, the control unit (270) of the present invention can perform alternating rotations based on the up-and-down directions of the first leg massage unit (230A) and the second leg massage unit (230B) described above, and can simultaneously drive external rotation or internal rotation by controlling at least one of the first horizontal driving unit (240AH) of the first leg driving unit (240A) and the second horizontal driving unit (240BH) of the second leg driving unit (240B).

[0604] In the case of the embodiment configuration of the present invention, it is possible to induce a continuous cycling motion not only in a state where the legs are spread apart and in a state where the legs are brought together, but also in a dynamic process where the legs are gradually narrowed or gradually spread apart, thereby implementing a more three-dimensional cycling mode.

[0605]

[0606] Although the present invention has been described above with reference to limited embodiments and drawings, the present invention is not limited thereto, and it is obvious that various modifications and variations are possible within the scope of the technical idea of ​​the present invention and the equivalent scope of the patent claims to be described below by a person having ordinary skill in the art to which the present invention pertains.

[0607] In the description of the present invention described above, modifiers such as first and second are merely instrumental conceptual terms used to relatively distinguish components from each other, and should be interpreted as not being terms used to indicate a specific order, priority, etc.

[0608] The drawings attached for the purpose of explaining the present invention and illustrating embodiments thereof may be illustrated in a somewhat exaggerated form to emphasize or highlight the technical contents of the present invention. However, it should be interpreted that it is obvious that various modified application examples may be possible at the level of a person skilled in the art in consideration of the contents described above and matters illustrated in the drawings.

[0609] The control method of the massage device (100) according to the present invention described above can be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices (CD-ROM, RAM, ROM, floppy disk, magnetic disk, hard disk, magneto-optical disk, etc.) that store data that can be read by a computer, and also includes a server for wired or wireless Internet transmission.

[0610] Furthermore, the massage device configuration and functions of this specification can be extended and applied to various (wearable) healthcare devices that can provide healthcare functions (e.g., massage / massage functions, bio-signal measurement functions, etc.). Accordingly, it goes without saying that the "massage device" of this specification can be replaced with the term "(wearable) healthcare device."

[0611] [Explanation of symbols]

[0612] 100: Massage device

[0613] 210: Body massage section 220: Body movement section

[0614] 230A: First leg massage section 230B: Second leg massage section

[0615] 240A: 1st bridge drive unit 240AH: 1st horizontal drive unit

[0616] 240AV: 1st vertical drive unit 240AL: 1st length adjustment unit

[0617] 240B: Second bridge drive unit 240BH: Second horizontal drive unit

[0618] 240BV: Second vertical drive unit 240BL: Second length adjustment unit

[0619] 250A: 1st Arm Massage Department 250B: 2nd Arm Massage Department

[0620] 260A: 1st Palgu-dongbu 260B: 2nd Palgu-dongbu

[0621] 231A(B): 1st (2nd) detection sensor 232A(B): 1st (2nd) leg air cell

[0622] 270: Control unit 280: Interface unit

[0623] 290: Aircell

Claims

1. A body massage unit that massages at least a part of the user's body; First and second leg massage parts positioned at the lower part of the above body massage; A first horizontal driving unit that rotates or moves the first leg massage unit horizontally; A second horizontal driving unit that rotates or moves the second leg massage unit horizontally; A massage device characterized in that it includes a control unit that controls at least one of the first and second horizontal driving units so that at least one of the first and second leg massage units performs a swing motion, which is a motion in which at least one of the first and second leg massage units rotates or moves in a horizontal direction.

2. In paragraph 1, the control unit, A massage device characterized in that the rotation or movement directions of the first and second leg massage parts are controlled to alternate so that the first and second leg massage parts move away from each other in the horizontal direction and the first and second leg massage parts move closer to each other are repeated.

3. In paragraph 1, the control unit, A massage device characterized in that when the swing motion is performed only on one of the first and second leg massage parts, the position of the other part is controlled to be fixed.

4. In paragraph 1, A first vertical driving unit that rotates or moves the first leg massage unit in the up-and-down direction; and It further includes a second vertical driving unit that rotates or moves the second leg massage unit in the up-down direction, The above control unit, A massage device characterized in that at least one of the first horizontal driving unit, the first vertical driving unit, the second horizontal driving unit and the second vertical driving unit is controlled so that at least one of the first leg massage unit and the second leg massage unit rotates or moves in a three-dimensional space direction.

5. In paragraph 4, the control unit, A massage device characterized in that the horizontal outward rotation or movement and the upward rotation or movement of the first or second leg massage part are controlled to be linked together, or the horizontal inward rotation or movement and the downward rotation or movement of the first or second leg massage part are controlled to be linked together.

6. In paragraph 1, It further includes a detection sensor that detects the operating force applied by the user's leg part accommodated in at least one of the first and second leg massage parts, The above control unit, A massage device characterized in that the swing motion is controlled to occur in a direction corresponding to the direction in which the above-mentioned operating force is applied.

7. In paragraph 6, the control unit, A massage device characterized in that the swing motion is performed only when the above operating force is greater than or equal to a first reference value.

8. In paragraph 6, the control unit, A massage device characterized in that the rotation or movement speed of at least one of the first and second leg massage parts is determined based on the magnitude of the operating force.

9. In paragraph 1, A first length adjusting part for adjusting the length of the first leg massage part; and It further includes a second length adjustment part for adjusting the length of the second leg massage part, The above control unit, A massage device characterized in that the horizontal outward rotation or movement of the first or second leg massage part is controlled to be linked with the length extension of the first or second leg massage part, or the horizontal inward rotation or movement of the first or second leg massage part is controlled to be linked with the length reduction of the first or second leg massage part.

10. In paragraph 1, A massage device, characterized in that the range of horizontal rotation or movement of at least one of the first and second leg massage parts is variably set by at least one of user information, user body information, and user selection information.

11. In the second paragraph, the control unit, A massage device characterized in that counting information is generated using information on the number of times the rotation or movement directions of the first and second leg massage parts are alternated.

12. In paragraph 1, the control unit, A massage device characterized by controlling the output of guidance information that guides the application of force in a specific direction, and controlling the swing motion to be performed in a direction opposite to the specific direction.

13. In paragraph 12, the control unit, A massage device characterized in that, during the process of performing the swing motion, at least one of the first and second horizontal driving units is controlled so that a stopping motion in which at least one of the first and second leg massage units stops rotating or moving for a reference time is performed at least once.

14. In paragraph 1, It further includes a body driving part that changes the position or posture of the above body massage part, The above control unit, A massage device characterized in that the body drive unit is controlled so that the reclining motion in which the body massage unit is tilted backward precedes the swing motion.

15. In paragraph 1, It further includes at least one of the first leg air cell provided in the first leg massage section and the second leg air cell provided in the second leg massage section, The above control unit, A massage device characterized in that the expansion or contraction of at least one of the first and second leg air cells is controlled to be linked to the swing motion.

16. In paragraph 15, the control unit, A massage device characterized in that the horizontal outward rotation or movement of the first or second leg massage part and the expansion of the first or second leg air cell are controlled to be linked, or the horizontal inward rotation or movement of the first or second leg massage part and the contraction of the first or second leg air cell are controlled to be linked.

17. In paragraph 1, A first vertical driving unit that rotates or moves the first leg massage unit in the up-and-down direction; A second vertical driving unit that rotates or moves the second leg massage unit up and down; A first length adjusting part for adjusting the length of the first leg massage part; and It further includes a second length adjustment part for adjusting the length of the second leg massage part, The above control unit, A massage device characterized in that the first and second leg massage parts are alternately rotated or moved in different up-and-down directions while the first and second leg massage parts are rotated or moved outward, and the length of the leg massage part that rotates or moves upward among the first and second leg massage parts is controlled to decrease and the length of the leg massage part that rotates or moves downward is controlled to increase.

18. In paragraph 1, It further includes an air cell provided at a location corresponding to the user's waist or pelvic area, The above control unit, A massage device characterized in that when the first and second leg massage parts rotate or move in the same direction, the air cell is controlled to expand so that the user's body is physically supported.

19. A method for controlling a massage device including first and second leg massage parts arranged at the bottom of a body massager, a first horizontal driving part that rotates or moves the first leg massage part horizontally, and a second horizontal driving part that rotates or moves the second leg massage part horizontally, A control method for a massage device, characterized in that it includes a control step of controlling at least one of the first and second horizontal driving units so that at least one of the first and second leg massage units performs a swing motion, which is a motion in which at least one of the first and second leg massage units rotates or moves in a horizontal direction.

Images