Retractable massage device for providing safety function

Abstract

Disclosed is a retractable massage device for providing a safety function. The massage device having a withdrawable massage module according to an embodiment of the present application may comprise: a first support part forming an accommodation space for a second support part; the second support part provided to be movable in a preset retractable direction with respect to the first support part, and including a massage module provided to offer a massage to the body of a user; a safety sensor part disposed on at least one of the first support part and the second support part; and a control part for controlling the movement of the second support part by using a detection result of the safety sensor part.

Description

A retractable massage device that provides safety features

[0001] The present invention relates to a retractable massage device providing safety features.

[0002] Massage is a medical auxiliary therapy that regulates the body's tone, helps blood circulation, and relieves fatigue by applying various forms of mechanical stimulation to parts of the body, such as kneading, pressing, pulling, tapping, or moving the body.

[0003] The growing demand for massage has led to a surge in demand for massage devices or appliances that offer artificial massage functions, driven by economic and time constraints. In other words, as demand grows for massage to relieve fatigue and stress by loosening tense muscles, a variety of time- and cost-effective massage devices are being developed and released.

[0004] Recently, massage devices have also been manufactured in bed-type configurations, allowing users to receive massages while lying down. These bed-type massage devices provide massage by stimulating the user's waist and back with a moving massage module.

[0005] Meanwhile, existing bed-type massage devices have the disadvantage of being bulky, as they must be at least as long as the user's height. Therefore, there is a need to develop a massage device that can reduce bulk, safely provide massage to the user's body, and, more importantly, provide more efficient and rapid massage.

[0006] In this regard, there is a need to develop a new type of massage device that can be inserted into the lower part of the bed frame during normal times and pulled out to the outside of the bed frame when the user is receiving a massage by placing the massage device in the lower space of a general bed frame.

[0007] The technology underlying this application is disclosed in Korean Patent No. 10-2381262.

[0008] The present invention is intended to solve the problems of the prior art as described above, and to provide a massage device having a retractable massage module that is inserted into the lower part of a support such as a bed frame when a massage function is not provided, and can be pulled out to the outside of the support to provide a massage to the user.

[0009] However, the technical tasks to be achieved by the embodiments of the present invention are not limited to the technical tasks described above, and other technical tasks may exist.

[0010] As a technical means for achieving the above-described technical task, a massage device having a withdrawable massage module according to one embodiment of the present invention may include a first support part forming a receiving space for a second support part, a massage module provided to provide a massage to a user's body, a second support part provided to be movable along a preset withdrawal / entry direction with respect to the first support part, a safety sensor part arranged in at least one of the first support part and the second support part, and a control part controlling the movement of the second support part using a detection result of the safety sensor part.

[0011] Additionally, the safety sensor unit may include a first safety sensor disposed on the outer surface of the second support unit.

[0012] Additionally, a buried space formed inwardly can be formed on the outer surface of the second support portion.

[0013] Additionally, the first safety sensor may be positioned to be accommodated in the landfill space.

[0014] In addition, the safety sensor unit may include a second safety sensor arranged in an opening on one side of the receiving space through which at least a portion of the second support unit passes when the second support unit moves in the direction of withdrawal.

[0015] Additionally, the first support portion may include a horizontal frame and a pair of vertical frames each connected to both ends of the horizontal frame to form the receiving space.

[0016] Additionally, the second safety sensor may be placed on the inner surface of the horizontal frame and the pair of vertical frames forming the opening.

[0017] In addition, the safety sensor unit may include a hollow flexible tube and a pair of conductive members that are accommodated inside the hollow flexible tube and generate a signal corresponding to the detection result regarding whether the safety sensor unit and an external object come into contact according to deformation of the hollow flexible tube due to an external force.

[0018] In addition, the safety sensor unit may include a first safety sensor that detects contact of an external object with the outer surface of the second support unit that moves in an outward direction based on the pull-out direction, and a second safety sensor that detects entrapment of an external object in a space between the second support unit and the first support unit that moves in an inward direction based on the pull-out direction.

[0019] In addition, a massage device having a withdrawable massage module according to one embodiment of the present invention may include an entry / exit detection unit disposed on at least one of the first support unit and the second support unit, and provided to detect status information on a behavior of the second support unit according to the withdrawal / exit direction.

[0020] Additionally, the entry / exit detection unit may include a first support unit sensor disposed on the first support unit and a second support unit sensor disposed on the second support unit.

[0021] In addition, the control unit can determine the state information based on a detection result indicating a proximity state between the first support unit sensor and the second support unit sensor as the second support unit moves along the withdrawal / entry direction.

[0022] Additionally, the first support part sensor may include a first type sensor disposed on the first support part to face the second support part sensor when the second support part is in an incoming state, and a second type sensor disposed on the first support part to face the second support part sensor when the second support part is in an outgoing state.

[0023] Additionally, the first support sensor may include a third type sensor disposed between the first type sensor and the second type sensor based on the withdrawal / intake direction.

[0024] In addition, the control unit can control the movement speed of the second support unit based on the detection result of the state in which the second support unit sensor and the third type sensor are facing each other.

[0025] Additionally, the third type sensor may be positioned closer to the first type sensor than to the second type sensor.

[0026] Additionally, the second support sensor may include a pair of second support sensors spaced apart in the vertical direction.

[0027] Additionally, the installation height of one of the pair of second support sensors may correspond to the installation height of the first type sensor.

[0028] Additionally, the installation height of the remaining one of the pair of second support sensors may correspond to the installation height of the third type sensor.

[0029] Additionally, the second type sensor may include a pair of second type sensors arranged to correspond to the installation heights of the pair of second support sensors, respectively.

[0030] Additionally, each of the first type sensor and the second type sensor may have a length based on the input / output direction greater than a height based on the up / down direction.

[0031] Additionally, the length based on the direction of entry and exit of the first type sensor or the second type sensor may be greater than the length based on the direction of entry and exit of the third type sensor.

[0032] Additionally, the first support part may have an actuator module that provides driving force for the movement of the second support part.

[0033] Additionally, the control unit can control the behavior of the second support unit using the load measurement results of the actuator module.

[0034] The above-described problem-solving methods are merely exemplary and should not be construed as limiting the present invention. In addition to the exemplary embodiments described above, additional embodiments may be included in the drawings and detailed description of the invention.

[0035] According to the aforementioned means for solving the problem of the present invention, a massage device can be provided that has a retractable massage module that is inserted into the lower part of a support part such as a bed frame when a massage function is not provided and can be pulled out to the outside of the support part to provide a massage to the user.

[0036] However, the effects that can be obtained from this center are not limited to the effects described above, and other effects may exist.

[0037] FIG. 1 is a schematic perspective view of a massage device having a retractable massage module according to one embodiment of the present invention.

[0038] FIG. 2 is a perspective view schematically showing the retractable state of a massage device having a retractable massage module according to one embodiment of the present invention.

[0039] FIG. 3 is a bottom view corresponding to the retracted state of a massage device having a retractable massage module according to one embodiment of the present invention.

[0040] FIG. 4 is a bottom view corresponding to a withdrawal state of a massage device having a withdrawable massage module according to one embodiment of the present invention.

[0041] FIG. 5a is a conceptual diagram showing the arrangement location of a safety sensor unit of a massage device having a retractable massage module according to one embodiment of the present invention.

[0042] Figure 5b is a drawing showing a cross-sectional structure of a safety sensor unit according to the first embodiment of the present invention.

[0043] Figure 5c is a drawing showing a cross-sectional structure of a safety sensor unit according to the second embodiment of the present invention.

[0044] FIG. 6 is a drawing showing the structure and installation location of a first safety sensor of a massage device having a withdrawable massage module according to one embodiment of the present invention.

[0045] FIG. 7 is a drawing showing the structure and installation location of a second safety sensor of a massage device having a withdrawable massage module according to one embodiment of the present invention.

[0046] Figure 8 is a drawing for explaining the user operation module.

[0047] Figure 9 is a drawing for explaining a remote control storage module.

[0048] FIG. 10 is a drawing showing a first support sensor among the entry / exit detection units of a massage device having a withdrawable massage module according to one embodiment of the present invention.

[0049] FIG. 11 is a drawing showing a second support sensor among the entry / exit detection units of a massage device having a withdrawable massage module according to one embodiment of the present invention.

[0050] Figure 12 is a drawing showing the installation form and shape of the first type sensor to the third type sensor of the first support sensor.

[0051] Figure 13 is a conceptual diagram for explaining the proximity state between the first support sensor and the second support sensor.

[0052] Fig. 14 is a drawing illustrating a massage module according to one embodiment of the present invention.

[0053] Fig. 15 is a drawing showing a plurality of motors provided in a massage module according to one embodiment of the present invention.

[0054] FIG. 16 is a drawing illustrating a lead screw and bracket of a massage module according to one embodiment of the present invention.

[0055] Fig. 17 is a drawing for explaining a height adjustment method for a first massage unit of a massage module according to one embodiment of the present invention.

[0056] Fig. 18 is a drawing for explaining the joint structure of the body part of the massage module according to one embodiment of the present invention.

[0057] Fig. 19 is a schematic diagram of a control unit of a massage device having a withdrawable massage module according to one embodiment of the present invention.

[0058] Figure 20 is a flowchart of the automatic introduction process of the second support part.

[0059] Figure 21 is a detailed operation flowchart for a process of controlling the behavior of the second support unit by utilizing the detection results of the entry / exit detection unit.

[0060] Figure 22 is a detailed flowchart of the process for controlling the massage function operation of the massage module and the behavior of the second support unit by utilizing the detection results of the safety sensor unit.

[0061] A massage device that provides a safety function, comprising: a first support portion forming a receiving space for a second support portion; a second support portion including a massage module provided to provide a massage to a user's body and provided to be movable along a predetermined pull-out direction with respect to the first support portion; an actuator module provided to the first support portion and providing a driving force for movement of the second support portion; and a control portion that controls movement of the second support portion using a load measurement result of the actuator module.

[0062] The purposes, features, and advantages of the present disclosure described above will become more apparent through the following examples taken in conjunction with the accompanying drawings. The specific structural and functional descriptions below are merely illustrative for the purpose of explaining embodiments according to the concepts of the present disclosure. Embodiments according to the concepts of the present disclosure may be implemented in various forms and should not be construed as being limited to the embodiments described in this specification or application.

[0063] Embodiments according to the concept of the present disclosure may be subject to various modifications and take various forms. Therefore, specific embodiments are illustrated in the drawings and described in detail in this specification or application. However, this is not intended to limit the embodiments according to the concept of the present disclosure to specific disclosed forms, and it should be understood that all modifications, equivalents, and alternatives included within the spirit and technical scope of the present disclosure are included.

[0064] While terms such as "first" and / or "second" may be used to describe various components, these components are not limited to these terms. These terms are only intended to distinguish one component from another; for example, without departing from the scope of the present disclosure, a first component may be referred to as a "second component," and similarly, a second component may also be referred to as a "first component."

[0065] 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 that there may be other components in between. Conversely, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between. Other expressions used to describe the relationship between components, such as "between" and "directly between" or "adjacent to" and "directly adjacent to", should be interpreted similarly.

[0066] The terminology used herein is merely used to describe specific embodiments and is not intended to limit the present disclosure. The singular expressions include plural expressions unless the context clearly dictates otherwise. It should be understood that the terms "comprises" or "has" used herein specify the presence of implemented features, numbers, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0067] 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 disclosure 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 will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0068] In this specification, an actuator refers to a structure capable of providing driving force. For example, an actuator may include, but is not limited to, a motor, a linear motor, an electric motor, a DC motor, an AC motor, a linear actuator, an electric actuator, and the like.

[0069] Hereinafter, embodiments of the present disclosure will be described in more detail with reference to the attached drawings.

[0070] FIG. 1 is a schematic perspective view of a massage device having a retractable massage module according to one embodiment of the present invention.

[0071] Referring to FIG. 1, a massage device (10) (hereinafter referred to as “massage device (10)”) having a retractable massage module according to one embodiment of the present invention may include a first support part (100) and a second support part (200).

[0072] The first support member (100) can form a receiving space for the second support member (200).

[0073] For example, the first support member (100) may include a horizontal frame and a pair of vertical frames connected to opposite ends of the horizontal frame to form a receiving space. For example, referring to the illustration of FIG. 1, the first support member (100) may be a bed having an upper surface on which a user may lie down, and the second support member (200) may be designed to a size that can be accommodated in the receiving space formed on the lower side of the bed-shaped first support member (100).

[0074] The second support unit (200) may include a massage module (210) that is provided to provide a massage to the user's body. In addition, the second support unit (200) may be provided to be movable along a preset withdrawal / intake direction with respect to the first support unit (100).

[0075] In this regard, the arrow in Fig. 1 may indicate the direction of movement of the second support member (200), that is, the direction of withdrawal.

[0076] FIG. 2 is a perspective view schematically showing the retractable state of a massage device having a retractable massage module according to one embodiment of the present invention.

[0077] Referring to FIGS. 1 and 2 together, the state information of the massage device (10) indicating the behavioral state of the second support member (200) may include at least one of an inward state in which the second support member (200) is drawn into the receiving space, an outward state in which the second support member (200) is drawn outward from the receiving space and protrudes outward from the first support member (100), and a movement state in which the second support member (200) moves along the inward and outward direction to switch between the inward and outward states.

[0078] In this regard, Fig. 1 illustrates a withdrawal state of the massage device (10), and Fig. 2 illustrates a retraction state of the massage device (10).

[0079] For reference, the 'moving state' may encompass a state in which the second support part (200) in the retracted state moves outward from the receiving space based on the withdrawal direction so as to be converted to the withdrawal state for the purpose of operating the massage function of the massage module (210), and a state in which the second support part (200) in the retracted state moves inward based on the withdrawal direction toward the receiving space so as to be converted back to the retracted state due to the termination of the massage function of the massage module (210). In this regard, among the moving states described above in the description of the embodiments of the present application, the state in which the second support part (200) moves outward based on the withdrawal direction is referred to as an 'outward moving state', and the state in which the second support part (200) moves inward based on the withdrawal direction is referred to as an 'inward moving state'.

[0080] In addition, referring to FIGS. 1 and 2, the second support member (200) may be provided with a user operation module (220). In addition, referring to FIGS. 1 and 2, the user operation module (220) may be positioned on the outer surface of the second support member (200) so as to be exposed to the outside when the massage device (10) is in the retracted state so that user operation is possible even when the massage device (10) is in the retracted state.

[0081] Additionally, the control unit (500) can control the behavior of the second support unit (200) based on user input authorized for the user operation module (220).

[0082] For example, when the massage device (10) is in a withdrawal state, if a first input for bringing the second support part (200) into the receiving space is applied to the user operation module (220), the control unit (500) can move the second support part (200) in an inward direction based on the withdrawal / inward direction toward the receiving space, so that the massage device (10) can be switched from a moving state (inward moving state) to a drawing state.

[0083] As another example, when the massage device (10) is in the retracted state, if a second input is applied to the user operation module (220) to withdraw the second support member (200) from the receiving space, the control unit (500) can move the second support member (200) in an outward direction based on the withdrawal / withdrawal direction from the receiving space, thereby causing the massage device (10) to transition from a moving state (outward moving state) to a withdrawing state.

[0084] FIG. 3 is a bottom view corresponding to an inlet state of a massage device having a withdrawable massage module according to one embodiment of the present invention, and FIG. 4 is a bottom view corresponding to an outlet state of a massage device having a withdrawable massage module according to one embodiment of the present invention.

[0085] Referring to FIGS. 3 and 4, the first support member (100) may be provided with an actuator module (110) that provides a driving force for the movement of the second support member (200). Specifically, referring to FIGS. 3 and 4, the actuator module (110) may be configured with a structure that includes, for example, an actuator (111) and a link member (112). Accordingly, the actuator (111) can provide a driving force to move the link member (112) according to the control signal of the control unit (500), and for example, when the actuator (111) is controlled to provide a driving force to increase the separation distance (separation angle) between the link members (112) arranged in a pair in a cross (X) shape, the second support member (200) can move in an outward direction based on the direction of entry and exit from the receiving space, and conversely, when the actuator (111) is controlled to provide a driving force to decrease the separation distance (separation angle) between the link members (112) arranged in a pair in a cross (X) shape, the second support member (200) can move in an inward direction based on the direction of entry and exit toward the receiving space.

[0086] In addition, referring to FIGS. 3 and 4, a massage groove (201) may be formed on the upper surface of the second support portion (200) so that at least a portion of the massage module (210) is exposed. For example, the second support portion (200) may include an upper surface on which a user may lie down, and the massage groove (201) may be formed to have a length in the direction of the height of the user lying on the upper surface of the second support portion (200).

[0087] In other words, the massage module (210) is positioned inside the second support member (200), but at least a portion thereof may be exposed to the outside through a massage groove (201) formed on the upper surface. In addition, the massage module (210) may be exposed to the outside through the massage groove (201) at least a portion thereof, so as to directly or indirectly contact the user's body to provide a massage.

[0088] Here, the fact that the massage module (210) provides a massage by directly contacting the user's body may mean that the massage device (10) does not include a separate member covering the massage home (201), so that the massage module (210) provides a massage while directly contacting the user's body.

[0089] In addition, the fact that the massage module (210) indirectly contacts the user's body to provide a massage means that the massage device (10) includes a separate member covering the massage groove (201). Specifically, this means that a separate member covering the massage groove (201) is placed between the massage module (210) and the user's body. Accordingly, the massage module (210) can apply pressure to the separate member covering the massage groove (201) or apply vibration to the member, and the pressure or vibration can be transmitted to the user's body. At this time, the separate member covering the massage groove (201) may be made of, but is not limited to, cloth, leather, synthetic resin, synthetic leather, etc.

[0090] Additionally, the massage module (210) can move along the length of the massage groove (201) within the second support member (200). For example, the massage module (210) can provide a massage to the user's body while moving along the massage groove (201).

[0091] Accordingly, the massage module (210) can provide massage to various parts of the user's body. For example, the massage module (210) can provide massage to the user's body by moving from the area adjacent to the user's neck to the user's waist, but is not limited thereto.

[0092] In addition, with respect to the massage mode provided to the user through the massage module (210), the massage module (210) can provide a massage by applying acupressure to the user's body or applying vibration to the user's body.

[0093] For example, the massage module (210) can provide acupressure massage by moving while in contact with the user's body and applying acupressure to the user's body.

[0094] As another example, the massage module (210) may include a vibration motor described below to provide a vibration massage to the user's body.

[0095] Alternatively, the massage module (210) can provide a tapping massage by moving up and down at a predetermined position.

[0096] However, the massage mode provided by the massage module (210) is not limited to the examples described above.

[0097] In addition, referring to FIGS. 3 and 4, the second support unit (200) may have a body unit (202) in which an operation module control unit (520) for operating an actuator module (110) in response to a user input applied to a user operation module (220) is disposed. For example, the operation module control unit (520) may be mounted on the second support unit (200) in the form of a printed circuit board (PCB), but is not limited thereto. Meanwhile, the specific functions and operations of the user operation module (220) will be described in detail later with reference to FIG. 19.

[0098] Hereinafter, with reference to FIGS. 5a to 7, the behavior control process of the second support part (200) of the control part (500) using the safety sensor part (300) and the detection result of the safety sensor part (300) will be described in detail.

[0099] FIG. 5a is a conceptual diagram showing the arrangement location of a safety sensor unit of a massage device having a retractable massage module according to one embodiment of the present invention.

[0100] Referring to FIG. 5a, the massage device (10) may include a safety sensor unit (300) disposed on at least one of the first support unit (100) and the second support unit (200).

[0101] In this regard, the massage device (10) disclosed in the present application may be provided with a safety sensor unit (300) for detecting and preventing collision situations, accident situations, etc. during the movement (movement) process for pulling in or pulling out of the second support unit (200), because an unexpected situation may occur in which an object or a user collides with the second support unit (200) during the relative movement process in accordance with the pulling-in or pulling-out direction of the first support unit (100), or an object or a part of the user's body may be caught in the gap between the first support unit (100) and the second support unit (200).

[0102] Meanwhile, according to one embodiment of the present invention, the safety sensor unit (300) may perform sensing when the second support unit (200) is in a moving state, but may transmit the sensed detection result to the control unit (500). In other words, according to one embodiment of the present invention, the safety sensor unit (300) may operate to not perform sensing or to perform sensing but not transmit the sensed detection result to the control unit (500) when the second support unit (200) is in a retracted state or a retracted state.

[0103] Specifically, the safety sensor unit (300) may include a hollow flexible tube (31) and a pair of conductive members (32) accommodated inside the hollow flexible tube (31) and configured to be energized according to deformation of the hollow flexible tube (31) by an external force and to generate a signal corresponding to a detection result regarding contact between the safety sensor unit (300) and an external object. Specifically, according to one embodiment of the present invention, the pair of conductive members (32) may be formed of two or more members that are initially spaced apart from each other, but when the hollow flexible tube (31) is deformed by an external force, the pair of conductive members (32) are elastically deformed together and become relatively closer to each other compared to the initial state, thereby energizing each other to generate a signal and transmitting the generated signal to the control unit (500).

[0104] In addition, if there is no external force applied to the safety sensor unit (300), a pair of conductive members (32) fall back to the initial state, and thus a signal may not be generated, and the control unit (500) can detect that an object has fallen from the safety sensor unit (300) as the transmission of the signal is stopped.

[0105] In addition, the safety sensor unit (300) may be provided with a cable member that connects a pair of conductive members (32) in the longitudinal direction, and the safety sensor unit (300) may be installed by taking into account the curve existing on the surface of the massage device (10) on which the safety sensor unit (300) is installed through this cable member.

[0106] For example, a pair of conductive members (32) of the safety sensor unit (300) may be of the pressure sensor type, but is not limited thereto, and various measuring means capable of detecting external force such as a collision with an object or a part of the user's body may be applied.

[0107] Fig. 5b is a drawing showing a cross-sectional structure of a safety sensor unit according to the first embodiment of the present invention, and Fig. 5c is a drawing showing a cross-sectional structure of a safety sensor unit according to the second embodiment of the present invention.

[0108] Specifically, (a) of FIG. 5b shows an initial state in which no external force is applied to the safety sensor unit (300) by an external object, and (b) of FIG. 5b shows a state in which an external force is applied to the safety sensor unit (300) by an external object, causing the hollow flexible tube (31) to be deformed and a pair of conductive members (32) to conduct current to each other.

[0109] Referring to FIGS. 5b and 5c, the safety sensor unit (300) disclosed herein may include a hollow flexible tube (31) and a pair of conductive members (32) spaced apart from each other inside the flexible tube (31) and, when pressure is applied to one side of the flexible tube (31), elastically deformed together and conducting electricity to detect a pinch. For example, the pair of conductive members (32) may have a circular cross-section as illustrated in FIG. 5b, or a thin band-structured cross-section as illustrated in FIG. 5c, but is not limited thereto.

[0110] When an external force is applied to the safety sensor unit (300) by an external object such as a user's body part or an object, a pair of conductive members (32) come relatively close to each other and conduct electricity to detect the external force applied by the external object compared to a state in which no external force is applied to the external object, and using this detection result, the control unit (500) can stop the movement of the second support unit (200) or move the second support unit (200) in the opposite direction to the existing movement direction to prevent injury to the user's body or damage to the massage device (10).

[0111] Meanwhile, referring to FIG. 5b, the direction in which a pair of conductive members (32) are spaced apart from each other can be set by considering the direction in which pressure is applied to the safety sensor unit (300) by an external object.

[0112] Specifically, when S1 of FIG. 5b is an attachment surface (adhesive surface) of a hollow flexible tube (31), S2 of FIG. 5b is a contact surface that comes into contact with an external object so that an external force is applied by the external object, and C of FIG. 5b represents a contact portion of the hollow flexible tube (31) due to an external force, the safety sensor unit (300) is designed so that the direction in which a pair of conductive members (32) are spaced apart from each other (the direction from 12 o'clock to 6 o'clock in FIG. 5b) is identical to the direction in which pressure is applied to the safety sensor unit (300) by the external object, so that even if the magnitude of the external force (pressure) applied by the external object is small, current can be easily transmitted between the pair of conductive members (32), and accordingly, the external force applied by the external object can be detected more precisely.

[0113] More specifically, in the case of the first safety sensor (310), the direction in which a pair of conductive members (32) are spaced apart from each other may be arranged so that the first safety sensor (310) attached to the outer surface of the second support member (200) moves together with the movement of the second support member (200), which is the direction in which the first safety sensor (310) moves together with the movement of the second support member (200). Accordingly, the first safety sensor (310) can more easily detect a collision with an external object when the second support member (200) is pulled out.

[0114] In other words, the first safety sensor (310) can be designed so that the direction in which a pair of conductive members (32) are spaced apart from each other and the direction in which pressure is applied by an external object colliding (contacting) with the outer surface of the second support member (200) moving along the direction of withdrawal are mutually consistent.

[0115] In contrast, in the case of the second safety sensor (320), a pair of conductive members (32) may be arranged so that the mutually spaced direction faces the inside of an opening formed on one side of the receiving space. Specifically, the second safety sensor (320) may be arranged so that a pair of conductive members (32) are mutually spaced in a direction orthogonal to the extension direction of the frame of the first support member (100) forming the opening.

[0116] More specifically, the second safety sensors (320a, 320c) arranged for each of the pair of vertical frames illustrated in FIG. 7, which will be described later, may be arranged so that the direction in which the pair of conductive members (32) are spaced apart from each other is in the longitudinal direction of the first support member (100), and the second safety sensor (320b) arranged for the horizontal frame illustrated in FIG. 7 may be arranged so that the direction in which the pair of conductive members (32) are spaced apart from each other is in the up-down direction.

[0117] In addition, as described in detail above, since the safety sensor unit (300) is designed to have a structure including a hollow flexible tube (31) and a pair of conductive members (32) arranged inside the hollow flexible tube (31), the safety sensor unit (300) can be manufactured in an elongated shape like a strap shape, and accordingly, the safety sensor unit (300) can be arranged to widely cover the safety sensor detection area for detecting an external force applied by an external object. Specifically, the first safety sensor (310) can be attached along the longitudinal direction of the outer surface of the second support member (200), and the second safety sensor (320) can be attached along the inner surface of the frame forming an opening on one side of the accommodation space.

[0118] For example, as shown in 'B' of FIG. 5a, the first safety sensor (310) may have a length corresponding to the entire section of the lower end of the outer surface of the second support member (200), and as shown in 'A' of FIG. 5a, the second safety sensor (320) may have a length corresponding to the entire section of the inner surface of the frame forming the opening.

[0119] FIG. 6 is a drawing showing the structure and installation location of a first safety sensor of a massage device having a withdrawable massage module according to one embodiment of the present invention.

[0120] Referring to Fig. 6, the safety sensor unit (300) may include a first safety sensor (310) arranged on the outer surface of the second support unit (200). In this regard, 'B' of the aforementioned Fig. 5 indicates the installation (placement) location of the first safety sensor (310).

[0121] For example, the first safety sensor (310) may be attached to the outer surface of the second support member (200) using Velcro. In addition, according to one embodiment of the present invention, the height at which the first safety sensor (310) is placed may be placed at the lower portion of the outer surface of the second support member (200) in consideration of a body part among the user's body parts that has a relatively high possibility of collision with the outer surface of the second support member (200). For example, the first safety sensor (310) may be installed at the lower portion of the outer surface (such as a side cover) of the second support member (200).

[0122] More specifically, considering that the foot part of the user's body that contacts the ground is structurally more protruding than other parts (e.g., calf part, etc.) that can be contacted within the height range of the second support part (200), and thus the situation in which the user's foot part collides (contacts) with the outer surface of the second support part (200) may occur more frequently than other parts of the user's body, the installation height of the first safety sensor (310) may be set to the lower part of the outer surface of the second support part (200), which is a position where the collision (contact) of the user's foot part with the outer surface of the second support part (200) can be more easily detected.

[0123] In addition, since the placement height of the first safety sensor (310) is set to the lower part of the outer surface of the second support member (200), the first safety sensor (310) can be placed at a lower position than the position where the user operation module (220) is placed on the outer surface of the second support member (200), so there is an advantage in that the situation in which an external force is falsely detected due to a user operation on the user operation module (220) can be reduced.

[0124] In addition, referring to FIG. 6, a buried space (301) formed inwardly is formed on the outer surface of the second support portion (200), and the first safety sensor (310) can be placed so as to be accommodated in the buried space (301) formed in the sunken direction. Accordingly, the first safety sensor (310) is placed (installed, attached) inside the buried space (301) formed by removing a part of the outer surface (side cover, etc.) of the second support portion (200), thereby preventing the first safety sensor (310) from being placed so as to protrude from the outer surface of the second support portion (200) and damaging the overall appearance of the massage device (10).

[0125] FIG. 7 is a drawing showing the structure and installation location of a second safety sensor of a massage device having a withdrawable massage module according to one embodiment of the present invention.

[0126] Referring to Fig. 7, the safety sensor unit (300) may include a second safety sensor (320) arranged in an opening on one side of a receiving space through which at least a portion of the second support unit (200) passes when the second support unit (200) moves in the direction of entry and exit. In this regard, 'A' of the aforementioned Fig. 5 indicates the installation (arrangement) location of the second safety sensor (320).

[0127] Specifically, referring to FIG. 7, the first support member (100) may include a horizontal frame and a pair of vertical frames each connected to both ends of the horizontal frame to form a receiving space. In addition, the second safety sensor (320) may be positioned on the inner surface of the horizontal frame and the pair of vertical frames forming an opening of the receiving space.

[0128] For example, one of the pair of vertical frames of the first support member (100) may be a frame forming a foot board (102) of the bed-shaped first support member (100), the other of the pair of vertical frames may be a frame forming a head board (103) of the bed-shaped first support member (100), and the horizontal frame may be a frame that is arranged between the foot board (102) and the head board (103) and forms a top surface on which a user can lie down.

[0129] In this regard, the illustration on the lower left of FIG. 7 illustrates a second safety sensor (320a) attached to one of a pair of vertical frames (e.g., the foot board (102) side of the first support member (100)), the illustration on the lower right of FIG. 7 illustrates a second safety sensor (320c) attached to the other of a pair of vertical frames (e.g., the head board (103) side of the first support member (100), and the illustration on the middle bottom of FIG. 7 illustrates a second safety sensor (320b) attached to a horizontal frame. For example, the second safety sensor (320) may be attached in a 'ㄷ' shape to surround an opening formed by a pair of vertical frames and a horizontal frame, but is not limited thereto.

[0130] That is, the second safety sensor (320) disclosed in the present invention is attached to the lower surface of the first support portion (100) to cover the opening formed by the first support portion (100), and can be easily installed to detect (detect) the entrapment of an external object, such as a user's body part or an object, in the space between the first support portion (100) and the second support portion (200) when the second support portion (200) is inserted.

[0131] In other words, the first safety sensor (310) of the safety sensor unit (300) provides a function for detecting a dangerous situation in which an external object collides (contacts) with the outer surface of the second support unit (200) in an outward movement state in which the second support unit (200) moves in an outward direction based on the direction of withdrawal in order to withdraw the second support unit (200), and the second safety sensor (320) of the safety sensor unit (300) provides a function for detecting a dangerous situation in which an external object is caught in the space between the first support unit (100) and the second support unit (200) in an inward movement state in which the second support unit (200) moves in an inward direction based on the direction of withdrawal in order to withdraw the second support unit (200).

[0132] Figure 8 is a drawing for explaining the user operation module.

[0133] Referring to FIG. 8, the user operation module (220) can receive user input including a first input for introducing the second support member (200) into the receiving space, a second input for withdrawing the second support member (200) from the receiving space, and a third input for switching the user operation module (220) to a locked state or an unlocked state.

[0134] In addition, referring to FIG. 8, the user operation module (220) may be provided with an inlet button (221) for receiving a first input, an outlet button (222) for receiving a second input, and a lock button (223) for receiving a third input. Specifically, after the third input is received and the user operation module (220) is switched to a locked state, even if the first and second inputs are received, the movement control of the second support member (200) according to the corresponding user input is not performed.

[0135] In addition, referring to FIG. 8, the user operation module (220) may be equipped with a display means (224) for displaying status information on the behavior according to the direction of withdrawal of the second support member (200), information on the locking status of the user operation module (220), etc. For example, the display means (224) may be a light source such as a light emitting diode (LED).

[0136] For example, the display means (224) may be controlled to light up when the user operation module (220) is in a locked state and to turn off when it is in an unlocked state, thereby providing a function of guiding the user as to whether the user operation module (220) can be operated, whether it needs to be unlocked, etc. As another example, the display means (224) may be controlled to light up when the second support part (200) is in a moving state and to turn off when the second support part (200) is in a withdrawn state or a retracted state, thereby providing a function of guiding the user as to the behavioral state of the second support part (200).

[0137] Meanwhile, in relation to the operation of the inlet button (221), the withdrawal button (222), and the lock button (223), in the case of the inlet button (221) and the withdrawal button (222), the first or second input is applied when the user performs an operation of briefly pressing each button once, and the second support part (200) is switched to the inlet state or the withdrawal state. On the other hand, the lock button (223) can be processed as a case where the third input is applied when the user maintains the pressed state for a preset threshold time (e.g., 3 seconds, etc.) or longer.

[0138] Meanwhile, according to one embodiment of the present invention, when the second support part (200) is in a moving state (outward moving state or inward moving state), a safety function may be provided to stop the movement of the second support part (200) even if the user performs an operation of briefly pressing one of the inlet button (221), the outlet button (222), and the lock button (223).

[0139] In addition, according to one embodiment of the present invention, when the massage module (210) is in operation (massage function operation state), if a first input is applied to the user operation module (220), considering that at least a part of the massage module (210) may collide with the first support part (100) in the process of the second support part (200) being introduced into the receiving space while the massage module (210) is in operation, the behavior control of the second support part (200) according to the first input is not performed, and guidance information for guiding the user to the corresponding situation may be output through an output part (not shown).

[0140] For example, guidance information output through an output unit (not shown) may include various contents, such as a voice guiding that the massage module (210) is in a massage function operation state, a voice guiding that the second support unit (200) is controlled to be retracted after the massage function operation of the massage module (210) is terminated due to the risk of collision between the massage module (210) and the first support unit (100), a voice requesting that the user operation module (220) be operated again after the massage function operation of the massage module (210) is terminated, etc.

[0141] Figure 9 is a drawing for explaining a remote control storage module.

[0142] Referring to FIG. 9, the second support member (200) may be provided with a remote control storage module (230) in which a storage space (231) is formed so that a remote control (20) that receives a control input linked to the massage function operation of the massage module (210) is inserted.

[0143] In addition, referring to FIG. 9, the remote control storage module (230) may be equipped with a remote control storage recognition sensor (232) for detecting the insertion status of the remote control (20) into the storage space (231).

[0144] In this regard, when the remote control (20) for controlling the massage module (210) exists outside the storage space (231), when the second support part (200) moves in the direction of insertion and withdrawal, the remote control (20) may interfere with the first support part (100) and / or the second support part (200) (for example, when the remote control (20) is located in the opening of the receiving space and the second support part (200) moves for insertion, the remote control (20) may be caught between the first support part (100) and the second support part (200), thereby causing a risk of damage. Therefore, the massage device (10) disclosed in the present invention provides a storage space (231) as a dedicated space for accommodating the remote control (20) on the side of the second support part (200), and provides a remote control storage recognition sensor (232) for detecting the storage state of the remote control (20) in the storage space (231) so that the remote control (20) is properly stored. The movement of the second support member (200) can be achieved.

[0145] For example, the remote control storage recognition sensor (232) may be in the initial position when the remote control (20) is not stored in the storage space (231), but may operate to detect the storage state of the remote control (20) by changing the position to the pressed position by the outer surface of the remote control (20) as the remote control (20) is stored inside the storage space (231), but is not limited thereto.

[0146] For example, the remote control storage recognition sensor (232) may be positioned at a position corresponding to the upper part (head) of the remote control (20) that is introduced into the storage space (231), but is not limited thereto. In FIG. 9, one remote control storage recognition sensor (232) is illustrated as being positioned, but depending on the implementation example of the present invention, a plurality of sensors may be positioned so that the storage state of the remote control (20) can be strictly detected even when the storage direction of the remote control (20) is changed.

[0147] In this regard, if the remote control (20) is not inserted into the storage space (231), the control unit (500) may not perform the behavior control of the second support unit (200). For example, if a first input for introducing the second support unit (200) into the storage space is applied to the user operation module (220), but the remote control (20) is not inserted into the storage space (231) (in a storage state), the control unit (500) may not perform the behavior control for the second support unit (200) that introduces the second support unit (200) according to the first input. As another example, in relation to the automatic introduction condition described below, if the remote control (20) is not inserted into the storage space (231) (in a storage state), the control unit (500) may prevent the automatic introduction of the second support unit (200).

[0148] Hereinafter, with reference to FIGS. 10 to 13, the identification (state information identification) of the behavioral state of the second support part (200) by the control part (500) using the detection result of the entry / exit detection part (400) and the detection result of the entry / exit detection part (400) and the behavior control process of the second support part (200) according to the identification will be described in detail.

[0149] FIG. 10 is a drawing showing a first support sensor among entry / exit detection units of a massage device having a withdrawable massage module according to one embodiment of the present invention, and FIG. 11 is a drawing showing a second support sensor among entry / exit detection units of a massage device having a withdrawable massage module according to one embodiment of the present invention.

[0150] Referring to FIGS. 10 and 11, the massage device (10) may include an entry / exit detection unit (400) disposed on at least one of the first support unit (100) and the second support unit (200). For example, the entry / exit detection unit (400) may be a magnetic sensor or an optical sensor.

[0151] Specifically, referring to FIGS. 10 and 11, the entry / exit detection unit (400) may include a first support sensor (410) disposed on the first support unit (100) and a second support sensor (420) disposed on the second support unit (200). According to one embodiment of the present disclosure, the first support sensor (410) may be a magnet, and the second support sensor (420) may be a sensor that detects a magnetic force (magnetic field) generated from the magnet. It may be preferable to install the first support sensor (410) including a magnet on the first support unit (100) including a horizontal frame and a vertical frame, and to install the second support sensor (420) using an electrically driven sensor on the second support unit (200) on which it is easy to install a PCB or the like for driving the massage module (210). In addition, since it is necessary to vary the length, shape, etc. of the first support sensor (410), it may be convenient for the first support sensor (410) to include a magnet when considering ease of manufacturing or installation.

[0152] For example, referring to FIG. 10, the first support sensor (410) may be disposed on the inner surface (in other words, the surface facing the receiving space) of the foot board (102) of the first support unit (100), but is not limited thereto. As another example, depending on the implementation example of the present disclosure, the first support sensor (410) may also be disposed on the inner surface of the head board (103) of the first support unit (100).

[0153] In addition, referring to FIG. 10, the first support sensor (410) may include a first type sensor (411) disposed on the first support (100) to face the second support sensor (420) when the second support (200) is in the retracted state, and a second type sensor (412) disposed on the first support (100) to face the second support sensor (420) when the second support (200) is in the retracted state.

[0154] In addition, referring to FIG. 10, the first support sensor (410) may include a third type sensor (413) positioned between the first type sensor (411) and the second type sensor (412) based on the direction of entry and exit in which the second support sensor (200) moves.

[0155] Additionally, referring to FIG. 10, the third type sensor (413) can be positioned closer to the first type sensor (411) than to the second type sensor (412).

[0156] Also, referring to FIG. 11, the second support sensor (420) may include a pair of second support sensors (420) that are spaced apart from each other in the vertical direction. In other words, the second support sensors (420) may be arranged as a pair so as to be spaced apart from each other in the vertical direction. For example, the second support sensor (420) may be arranged on the outer side of the side of the second support sensor (200) that is arranged to face the foot board (102) of the first support sensor (100) when the second support sensor (200) is in the retracted state.

[0157] At this time, the installation height of one of the pair of second support sensors (420) may correspond to the installation height of the first type sensor (411), and the installation height of the other of the pair of second support sensors (420) may correspond to the installation height of the third type sensor (413).

[0158] In addition, referring to FIG. 10, the second type sensor (412) may be provided with a pair of second type sensors (412) arranged to correspond to the installation heights of a pair of second support sensors (420), respectively. In other words, the second type sensors (412) may be arranged as a pair in a form spaced apart from each other in the vertical direction, similar to the second support sensors (420).

[0159] Figure 12 is a drawing showing the installation form and shape of the first type sensor to the third type sensor of the first support sensor.

[0160] Referring to FIG. 12, each of the first type sensor (411) and the second type sensor (412) may have a length based on the input / output direction greater than a height based on the vertical direction. Specifically, referring to FIG. 12, the length (w1) of the first type sensor (411) may be greater than the height (h1) of the first type sensor (411), and the length (w2) of the second type sensor (412) may be greater than the height (h2) of the second type sensor (412).

[0161] Additionally, according to one embodiment of the present invention, the third type sensor (413) may have a length based on the direction of inlet and outlet that is greater than a height based on the vertical direction. Specifically, referring to FIG. 12, the length (w3) of the third type sensor (413) may be greater than the height (h3) of the third type sensor (413).

[0162] By setting the specifications for the length and height of the first support sensor (410), alignment errors that may occur due to production tolerance or assembly tolerance of the first support sensor (410) can be prevented (reduced).

[0163] In addition, referring to FIG. 12, the length based on the direction of entry and exit of the first type sensor (411) or the second type sensor (412) may be greater than the length based on the direction of entry and exit of the third type sensor (413). In this regard, referring to FIG. 12, it can be confirmed that the length (w1) of the first type sensor (411) or the length (w2) of the second type sensor (412) is shown to be larger than the length (w3) of the third type sensor (413).

[0164] In addition, the control unit (500) can identify the status information of the second support unit using the detection result of the entry / exit detection unit (400). Specifically, the control unit (500) can determine the status information based on the detection result indicating the proximity state between the first support unit sensor (410) and the second support unit sensor (420) as the second support unit (200) moves along the entry / exit direction.

[0165] In this regard, the status information of the second support member (200) can be divided into an inlet status, an outlet status, a moving status, etc., as described in detail above.

[0166] Figure 13 is a conceptual diagram for explaining the proximity state between the first support sensor and the second support sensor.

[0167] Referring to (a) of FIG. 13, the control unit (500) can identify that the second support unit (200) is in a withdrawn state based on the detection results obtained by arranging a pair of second support unit sensors (420) and a pair of second type sensors (412) at corresponding heights so as to face each other. In other words, the control unit (500) can recognize that the withdrawal (protrusion) of the second support unit (200) is complete when both of the second support unit sensors (420) face the first support unit sensor (410).

[0168] In addition, referring to (b) of FIG. 13, the control unit (500) can identify that the second support unit (200) is in the retracted state based on a detection result obtained when one of a pair of second support unit sensors (420) (e.g., the second support unit sensor (420) positioned relatively upward, etc.) and the first type sensor (412) are in a mutually opposing state.

[0169] In addition, although not shown in the drawing, the control unit (500) can identify that the second support unit (200) is in a moving state based on a detection result obtained when the other one of the pair of second support unit sensors (420) (for example, the second support unit sensor (420) disposed relatively lower in FIG. 13) and the third type sensor (413) are in a state of facing each other. In other words, the control unit (500) can recognize that the introduction (accommodation) of the second support unit (200) is complete or that the second support unit (200) is in a moving state when only one of the pair of second support unit sensors (420) is in a state of facing the first support unit sensor (410).

[0170] Meanwhile, according to one embodiment of the present invention, the third type sensor (413) is positioned relatively closer to the first type sensor (411) than to the second type sensor (412), so that the state in which the third type sensor (413) and the second support sensor (420) face each other can indicate a state in which the second support (200) is moving closer to the retracted state rather than the withdrawn state.

[0171] In this regard, the control unit (500) can control the movement speed of the second support unit (200) based on the detection result of the state in which the second support unit sensor (420) and the third type sensor (413) face each other. More specifically, when the control unit (500) detects the state in which the second support unit sensor (420) and the third type sensor (413) face each other, the control unit (500) determines that the second support unit (200), which corresponds to the inward movement state, has reached a state close to the inlet state (in other words, the storage into the receiving space of the second support unit (200) is almost complete), and can control the movement speed of the second support unit (200) downward.

[0172] In addition, according to one embodiment of the present invention, when the control unit (500) detects that the second support unit sensor (420) and the first type sensor (411) or the second type sensor (412) are in an opposing state, the control unit (500) determines that the second support unit (200) has reached an inlet state or an outlet state, and controls the movement of the second support unit (200) so that the second support unit (200) stops.

[0173] In other words, the control unit (500) can control the behavior of the second support unit (200) based on the status information of the identified second support unit (200).

[0174] Additionally, according to one embodiment of the present invention, the control unit (500) can control the operation of the massage module (210) based on the status information of the identified second support unit (200).

[0175] Specifically, the control unit (500) can determine that the massage function of the massage module (210) can be operated when the second support unit (200) is in a withdrawn state. Accordingly, the massage module (210) can provide the massage function of the massage module (210) only when the second support unit (200) is maximally extended outward from the receiving space with respect to the first support unit (100).

[0176] Additionally, the control unit (500) can switch the user operation module (220) to a locked state when the massage module (210) is in a massage function operating state.

[0177] In addition, when a user input corresponding to the first input is received while the massage module (210) is in a massage function operation state, the control unit (500) may not perform the movement control of the second support unit (200) according to the user input, or when a user input corresponding to the third input is received while the massage module (210) is in a massage function operation state, the control unit (500) may not perform the transition to the unlocked state of the user operation module (230) according to the user input.

[0178] In addition, according to one embodiment of the present invention, the massage device (10) may include an output unit (not shown) that is provided to output guidance information. For example, when the massage module (210) is in a massage function operation state and a user input is applied to the user operation module (220), the output unit (not shown) may output guidance information indicating that the movement of the second support unit (200) according to the user input is impossible.

[0179] For example, the output unit (not shown) may operate to visually output guidance information through a display module (not shown) provided in the remote control (20), or to audibly output guidance information through a speaker module (not shown) provided in the first support unit (100) and / or the second support unit (200), but is not limited thereto.

[0180] In addition, when a user input corresponding to the first input is applied to the user operation module (220), the control unit (500) can control the behavior of the second support unit (200) based on the detection result of the position information of the massage module (210).

[0181] Specifically, if the control unit (500) determines that the detection result for the position information of the massage module (210) corresponds to an interference position where at least a part of the massage module (210) may collide with the outer surface of the first support unit (100) when the second support unit (200) moves in and out of the second support unit (200), the control unit (500) can control the massage module (210) so that the position information of the massage module (210) is switched to a preset initial position. In addition, if the control unit (500) determines that the position information of the massage module (210) detected again after the control for adjusting the position of the massage module (210) is applied corresponds to the initial position, the control unit (500) can control the behavior of the second support unit (200) so that the second support unit (200) is switched to a retracted state.

[0182] In addition, the control unit (500) can control the behavior of the second support unit (200) using the load measurement result of the actuator module (110). In this regard, if an unexpected situation occurs, such as a user or an object being located above the second support unit (200) or an object being caught in a location that cannot be detected by the safety sensor unit (300), a load that exceeds a preset error range may be generated in the actuator module (110) provided in the first support unit (100) to provide a driving force for the behavior of the second support unit (200), and therefore, the control unit (500) can prevent danger by monitoring the load applied to the actuator module (110) and not performing behavior control of the second support unit (200) according to the user input corresponding to the first input, or by immediately stopping the behavior of the second support unit (200) in a moving state.

[0183] Below, the automatic introduction process for the second support part (200) will be described.

[0184] According to one embodiment of the present invention, for the second support part (200) corresponding to the withdrawal state, if at least one of the state linked to the massage function operation of the massage module (210) and the state of the second support part (200) satisfies a preset automatic retraction condition, the behavior of the second support part (200) can be controlled so that the second support part (200) is switched to the retraction state. In this regard, the automatic retraction of the second support part (200) can specifically mean that even when a first input is not received from a user through the user operation module (220), if a preset condition is satisfied, the behavior is controlled by the control part (500) so that the second support part (200) in the withdrawal state moves toward the receiving space and is switched to the retraction state.

[0185] Specifically, the automatic introduction condition may include a condition in which the duration of the withdrawal state of the second support member (200) passes a preset threshold time (e.g., 30 minutes, etc.).

[0186] As another example, the automatic retraction condition may include a condition in which the massage module (210) is in a massage function non-operation state. In other words, automatic retraction of the second support member (200) may not be performed while the massage module (210) is performing an operation to provide the massage function.

[0187] As another example, the automatic insertion condition may include a condition related to the insertion state of the remote control (20) into the storage space (231) of the remote control storage module (230). For example, if the remote control (20) is not inserted into the storage space (231), automatic insertion of the second support member (200) may not be performed.

[0188] Additionally, according to one embodiment of the present invention, the automatic entry condition may include a condition in which the detection result of the safety sensor unit (300) is obtained when no external force is applied to the safety sensor unit (300). Meanwhile, this automatic entry process will be described in detail with reference to FIG. 20 described below.

[0189] Hereinafter, the specific structure and function of the massage module (210) will be described in detail with reference to FIGS. 14 to 18.

[0190] Fig. 14 is a drawing illustrating a massage module according to one embodiment of the present invention.

[0191] Referring to FIG. 14, the massage module (210) may include a body part (211), a pivot part (212) whose end is hingedly connected to the body part (211), and a first massage part (213) that is positioned on the upper portion of the pivot part (212) to provide massage to a body part of the user and whose height is adjusted according to the rotation of the pivot part (212). In addition, referring to FIG. 14, the massage module (210) may include a second massage part (214) for applying acupressure to the body of the user. For example, the second massage part (214) may be in the form of an acupressure ball.

[0192] Meanwhile, when the massage module (210) does not provide a massage function, the position of the first massage part (213) can be positioned lower than the upper surface of the second support part (200), so that the user does not feel uncomfortable.

[0193] Fig. 15 is a drawing showing a plurality of motors provided in a massage module according to one embodiment of the present invention.

[0194] Referring to FIG. 15, the massage module (210) may have a plurality of motors including a first massage part up-and-down movement motor (2101), a tapping motor (2102), an XD motor (2103), and a kneading motor (2104).

[0195] For example, the first massage unit (213) of the massage module (210) may provide modes such as acupressure mode, kneading mode, tapping mode, XD mode, and heat mode using multiple motors, and the second massage unit (214) may provide modes such as acupressure mode, kneading mode, tapping mode, and heat mode using multiple motors, but is not limited thereto. In other words, the types of massage provided to the user's body parts through each of the first massage unit (213) and the second massage unit (214) may be determined differently.

[0196] FIG. 16 is a drawing illustrating a lead screw and bracket of a massage module according to one embodiment of the present invention.

[0197] Referring to FIG. 16, the massage module (210) can operate to adjust the massage intensity provided through the first massage unit (213) by moving the lead screw (2111) according to the rotation of the XD motor (2103), thereby moving the bracket (2112) coupled with the first massage unit (213) (XD mode).

[0198] FIG. 17 is a drawing for explaining a height adjustment method for a first massage part of a massage module according to one embodiment of the present invention, and FIG. 18 is a drawing for explaining a joint structure of a body part of a massage module according to one embodiment of the present invention.

[0199] Referring to FIG. 17, the height range for the first massage part (213) can be set so that the maximum height is the state in which the height of the first massage part (213) is raised as much as possible based on the height of the body part (211) according to the rotation of the swivel part (212), and the minimum height is the state in which the height of the first massage part (213) is lowered as much as possible based on the height of the body part (211) according to the rotation of the swivel part (212).

[0200] In this regard, the initial position linked to the position information of the massage module (210) for determining whether to switch to the retracted state for the second support member (200) in the retracted state may correspond to a state in which the height of the first massage member (213) is adjusted to the minimum height as illustrated in (b) of FIG. 17. For example, in a case in which the massage function operation of the massage module (210) is terminated in a state in which the height of the first massage member (213) is adjusted to the maximum height as illustrated in (a) of FIG. 17, even if the first input for switching the second support member (200) to the retracted state is applied, the position information of the massage module (210) may be determined to correspond to an interference position, and thus the behavior control for the second support member (200) according to the first input may not be performed.

[0201] In addition, referring to FIGS. 17 and 18, the position of the first axis (2116) of the body part (211) is fixed, the second axis (2117) is fixed to the bracket (2112), and its position can change depending on the position of the bracket (2112). In addition, when the bracket (2112) moves, the position of the second axis (2117) changes, and accordingly, the connecting member (2115) coupled to the second axis (2117) moves the shaft member (2114) in the left-right direction, and according to the left-right movement of the shaft member (2114), the massage part frame (2113) rotates based on the first axis (2116), and the pivot member (212) tilts, so that a massage can be provided to a body part of the user by the first massage part (213) located at the upper end of the pivot member (212).

[0202] Fig. 19 is a schematic diagram of a control unit of a massage device having a withdrawable massage module according to one embodiment of the present invention.

[0203] Referring to FIG. 19, the control unit (500) may include a main control unit (510) and an operation module control unit (520). For example, the main control unit (510) may include a main board of the massage device (10), and the operation module control unit (520) may include a switch board mounted on the second support unit (200).

[0204] The main control unit (510) can obtain user input authorized by the user operation module (220) from the operation module control unit (520) or the user operation module (220). In addition, the main control unit (510) can obtain (receive) the detection result of the safety sensor unit (300) from the safety sensor unit (300). In addition, the main control unit (510) can control the actuator module (110) of the first support unit (100) based on the detection result of the entry / exit detection unit (400), the user input authorized by the user operation module (220), etc.

[0205] In addition, the operation module control unit (520) may be configured to receive user input authorized by the user operation module (220) and control the inlet button (221), outlet button (222), lock button (223), display means (224), etc. provided in the user operation module (220).

[0206] Below, we will briefly review the operating flow of the present invention based on the detailed description above.

[0207] Figure 20 is a flowchart of the automatic introduction process of the second support part.

[0208] The automatic insertion process of the second support part illustrated in Fig. 20 can be performed by the control unit (500) described above. Therefore, even if the content is omitted below, the content described for the massage device (10) can be equally applied to the description of Fig. 20.

[0209] Referring to FIG. 20, the control unit (500) can perform an automatic retraction process to automatically switch the second support unit (200) corresponding to the retraction state to the retraction state based on a condition (C1) for the duration of the retraction state of the second support unit (200) or the elapsed time from the time when a user input is applied to the user operation module (220), a condition (C2) for the operation of the massage function of the massage module (210), a condition (C3) for the retraction state of the remote control retraction module (230) of the remote control (20), and a condition (C4) for the detection result of the safety sensor unit (300).

[0210] Specifically, referring to A (timer-related process) of FIG. 20, if the control unit (500) determines that the duration of the withdrawal state of the second support unit (200) or the elapsed time from the time when user input is applied to the user operation module (220) is greater than or equal to a threshold time ('Yes' of C1) and the massage module (210) is determined to be in a massage function non-operation state ('Yes' of C2), it can check whether the automatic retraction condition (C3) regarding the storage state of the remote control (20) is achieved.

[0211] Next, if the control unit (500) determines that the remote control (20) is normally stored in the remote control storage module (230) ('detection' of C3), it can control the behavior of the second support unit (200) so that the second support unit (200) is switched to the retracting state (automatic retracting start).

[0212] Next, when the control unit (500) determines that a pinching or collision has been detected using the detection result of the safety sensor unit (300) when the second support unit (200) is in a moving state that moves to a retracted state ('pinch detection' of C4), the control unit (500) can stop the movement of the second support unit (200).

[0213] In contrast, when the control unit (500) determines that no entrapment or collision has occurred ('non-detection' of C4) using the detection result of the safety sensor unit (300) when the second support unit (200) is in a moving state that moves to a retracted state, the control unit (500) can control the moving speed of the second support unit (200) using the detection result of the entry / exit detection unit (400), confirm the completion of the transition to the retracted state of the second support unit (200), and complete the automatic retracting process.

[0214] Figure 21 is a detailed operation flowchart for a process of controlling the behavior of the second support unit by utilizing the detection results of the entry / exit detection unit.

[0215] The process of controlling the behavior of the second support unit by utilizing the detection results of the entry / exit detection unit illustrated in Fig. 21 can be performed by the control unit (500) described above. Therefore, even if the content is omitted below, the content described for the massage device (10) can be equally applied to the description of Fig. 21.

[0216] Referring to FIG. 21, the control unit (500) can control the behavior of the second support unit (200) by using the load detection result (C1) of the actuator module (110), the detection result (C2) of the safety sensor unit (300), and the detection result (C3) of the entry / exit detection unit (400).

[0217] Specifically, referring to FIG. 21, if the control unit (500) determines that the load measurement result of the actuator module (110) is outside the allowable range ('overload detection' of C1), the control unit (500) can stop the movement of the second support unit (200) and output related guidance information through the output unit (not shown).

[0218] Next, if the load measurement result of the actuator module (110) is normal, the control unit (500) controls the movement of the second support unit (200) according to the user input authorized by the user operation module (220), and if it is determined that a pinching or collision is detected using the detection result of the safety sensor unit (300) obtained when the second support unit (200) is in a moving state ('pinch detection' of C2), the control unit can stop the movement of the second support unit (200) and output related guidance information through the output unit (not shown).

[0219] Next, the control unit (500) can control the behavior of the second support unit (200) by using the detection result (C3) of the entry / exit detection unit (400) (C3).

[0220] Specifically, referring to the upper flowchart of FIG. 21, the control unit (500) initiates the process of confirming the introduction of the second support member (200), and when the third type sensor (413) is detected to be facing the second support member sensor (420), the movement speed of the second support member (200) can be adjusted downward.

[0221] Next, when the control unit (500) detects that the first type sensor (411) is facing the second support sensor (420), it determines that the second support unit (200) has reached the retraction state, and stops the movement of the second support unit (200) and completes the retraction confirmation process.

[0222] Figure 22 is a detailed flowchart of the process for controlling the massage function operation of the massage module and the behavior of the second support unit by utilizing the detection results of the safety sensor unit.

[0223] The process of controlling the massage function operation of the massage module and the behavior of the second support unit by utilizing the detection results of the safety sensor unit illustrated in Fig. 22 can be performed by the control unit (500) described above. Therefore, even if the content is omitted below, the content described for the massage device (10) can be equally applied to the description of Fig. 22.

[0224] Referring to Fig. 22, the control unit (500) can determine whether the second support unit (200) is in a withdrawal state (C1).

[0225] If, as a result of the judgment for step C1, a pair of second type sensors (412) are detected to be mutually opposed to a pair of second support sensors (420) ('2' of C1), the control unit (500) can determine that the massage module (210) is in a state where the massage function can be operated.

[0226] In contrast, if the judgment result for step C1 does not detect that a pair of second type sensors (412) are mutually opposed to a pair of second support sensors (420) ('other than' in C1), the control unit (500) can determine that the massage module (210) of the second support unit (200) is in a state where the massage function cannot be operated.

[0227] Next, the control unit (500) can determine whether the massage module (210) is in a massage function operation state (C2).

[0228] If, as a result of the judgment for step C2, it is determined that the massage module (210) is in a massage function operation state ('in operation' of C2), the control unit (500) can switch the user operation module (220) to a lock state and subsequently perform step C3.

[0229] In step C3, when the control unit (500) receives a third input for switching the user operation module (220) to an unlocked state, the control unit (500) can output guidance information through an output unit (not shown) to inform that the second support unit (200) cannot be inserted, considering that the massage module (210) is in an operating state.

[0230] In contrast, if the massage module (210) is determined to be in a massage function non-operation state ('waiting' in C2) as a result of the judgment for step C2, the control unit (500) can control the operation of the massage module (210) and the behavior of the second support unit (200) so that the second support unit (200) is switched to the retracted state after the massage is completed through step C4.

[0231] Specifically, in step C4, the control unit (500) can check the position of the massage module (210) in response to the first input authorized by the user operation module (220), control the massage module (210) so that the position of the massage module (210) is adjusted to a preset initial position, and then control the movement of the second support unit (200) so that the second support unit (200) moves toward the receiving space to switch to the inlet state.

[0232] In the above description, each step, such as the automatic introduction process of the second support unit, the process for controlling the massage function operation of the massage module, and the process for controlling the behavior of the second support unit, may be further divided into additional steps or combined into fewer steps, depending on the implementation example of the present invention. Furthermore, some steps may be omitted as needed, and the order of the steps may be changed.

[0233] According to one embodiment of the present invention, the automatic insertion process of the second support unit, the process for controlling the massage function operation of the massage module, the process for controlling the behavior of the second support unit, etc. may be implemented in the form of program commands that can be executed by various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be those specially designed and configured for the present invention or may be those known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The above hardware devices may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

[0234] In addition, the aforementioned second support automatic introduction process, the process for controlling the massage function operation of the massage module, the process for controlling the behavior of the second support, etc. may also be implemented in the form of a computer program or application executed by a computer stored in a recording medium.

[0235] Although the embodiments of the present disclosure have been described in more detail with reference to the attached drawings, the present disclosure is not necessarily limited to these embodiments, and various modifications may be implemented without departing from the technical spirit of the present disclosure. Therefore, the embodiments disclosed in the present disclosure are not intended to limit the technical spirit of the present disclosure, but to explain it, and the scope of the technical spirit of the present disclosure is not limited by these embodiments. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The protection scope of the present disclosure should be interpreted by the claims, and all technical ideas within a scope equivalent thereto should be interpreted as being included in the scope of rights of the present disclosure.

[0236] [Explanation of symbols]

[0237] 10: Massage device

[0238] 100: First Support Division

[0239] 102: Foot Board

[0240] 103: Headboard

[0241] 110: Actuator module

[0242] 200: Second Support Division

[0243] 210: Massage Module

[0244] 220: User Operation Module

[0245] 230: Remote control storage module

[0246] 20: Remote control

[0247] 300: Safety sensor section

[0248] 310: First safety sensor

[0249] 31: Hollow flexible tube

[0250] 32: A pair of challengers

[0251] 320: Second safety sensor

[0252] 400: Entry / Exit Detection Unit

[0253] 410: First support sensor

[0254] 411: Type 1 sensor

[0255] 412: Type 2 sensor

[0256] 413: Type 3 Sensor

[0257] 420: Second support sensor

[0258] 500: Control Unit

Claims

1. In a retractable massage device providing a safety function, A first support portion forming a receiving space for a second support portion; A second support unit comprising a massage module configured to provide a massage to a user's body, and configured to be movable along a preset withdrawal / intake direction with respect to the first support unit; An actuator module provided in the first support portion and providing a driving force for the movement of the second support portion; and A control unit that controls the behavior of the second support unit using the load measurement results of the actuator module; A massage device comprising:

2. In paragraph 1, A safety sensor unit disposed on at least one of the first support unit and the second support unit; Including more, The above safety sensor part, A massage device comprising a first safety sensor disposed on the outer surface of the second support member.

3. In paragraph 2, On the outer surface of the second support portion, a buried space is formed that is sunken inward, A massage device, wherein the first safety sensor is arranged to be accommodated in the landfill space.

4. In paragraph 2, The above safety sensor part, A massage device further comprising a second safety sensor arranged in an opening on one side of the receiving space through which at least a portion of the second support part passes when the second support part moves in the direction of withdrawal.

5. In paragraph 4, The above first support part, It comprises a horizontal frame and a pair of vertical frames each connected to both ends of the horizontal frame to form the receiving space, The above second safety sensor, A massage device, which is arranged on the inner surface of the horizontal frame forming the opening and the pair of vertical frames.

6. In paragraph 2, The above safety sensor part, Hollow flexible tube; and A pair of conductive members that are accommodated inside the hollow flexible tube and generate a signal corresponding to the detection result regarding whether or not the safety sensor unit is in contact with an external object according to deformation of the hollow flexible tube due to an external force; A massage device comprising:

7. In paragraph 2, The above safety sensor part, A first safety sensor that detects contact of an external object with the outer surface of the second support member moving in an outward direction based on the above withdrawal direction; and A second safety sensor that detects an external object being caught in the space between the second support part and the first support part, which moves inward based on the direction of the withdrawal / entry; A massage device comprising:

8. In paragraph 1, An entry / exit detection unit disposed on at least one of the first support unit and the second support unit, and provided to detect status information on the behavior of the second support unit according to the withdrawal / intake direction; A massage device further comprising:

9. In paragraph 8, The above entry / exit detection unit includes a first support sensor arranged on the first support unit and a second support sensor arranged on the second support unit, The above control unit, A massage device that determines the state information based on a detection result indicating a proximity state between the first support sensor and the second support sensor as the second support sensor moves along the withdrawal / entry direction.

10. In paragraph 9, The above first support sensor, A first type sensor arranged on the first support portion so as to face the second support portion sensor when the second support portion is in an inlet state; and A second type sensor arranged on the first support portion so as to face the second support portion sensor when the second support portion is in a withdrawal state; A massage device comprising:

11. In paragraph 10, The above first support sensor, A third type sensor placed between the first type sensor and the second type sensor based on the above withdrawal / intake direction, Including more, The above control unit, A massage device that controls the movement speed of the second support part based on the detection result of the second support part sensor and the third type sensor facing each other.

12. In paragraph 11, A massage device, wherein the third type sensor is positioned closer to the first type sensor than to the second type sensor.

13. In paragraph 11, The second support sensor has a pair of second support sensors arranged at intervals in the vertical direction, The installation height of one of the above pair of second support sensors corresponds to the installation height of the first type sensor, A massage device, wherein the installation height of the remaining one of the pair of second support sensors corresponds to the installation height of the third type sensor.

14. In paragraph 13, The above second type sensor, A massage device comprising a pair of second type sensors arranged to correspond to the installation heights of the pair of second support sensors.

15. In paragraph 10, A massage device, wherein each of the first type sensor and the second type sensor has a length based on the withdrawal / intake direction greater than a height based on the up-down direction.

16. In paragraph 11, A massage device, wherein the length of the first type sensor or the second type sensor based on the direction of withdrawal is greater than the length of the third type sensor based on the direction of withdrawal.

17. In a retractable massage device providing a safety function, A first support portion forming a receiving space for a second support portion; A second support unit comprising a massage module configured to provide a massage to a user's body, and configured to be movable along a preset withdrawal / intake direction with respect to the first support unit; A safety sensor unit disposed on at least one of the first support unit and the second support unit; and A control unit that controls the behavior of the second support unit using the detection results of the safety sensor unit; Including, The above safety sensor part, A massage device characterized by including a first safety sensor arranged at the lower end of the outer surface of the second support member.

18. In paragraph 17, On the outer surface of the second support portion, a buried space is formed that is sunken inward, A massage device, wherein the first safety sensor is arranged to be accommodated in the landfill space.

19. In paragraph 17, The above safety sensor part, A massage device further comprising a second safety sensor arranged in an opening on one side of the receiving space through which at least a portion of the second support part passes when the second support part moves in the direction of withdrawal.

20. In paragraph 19, The above first support part, It comprises a horizontal frame and a pair of vertical frames each connected to both ends of the horizontal frame to form the receiving space, The above second safety sensor, A massage device, which is arranged on the inner surface of the horizontal frame forming the opening and the pair of vertical frames.

21. In paragraph 17, The above safety sensor part, Hollow flexible tube; and A pair of conductive members that are accommodated inside the hollow flexible tube and generate a signal corresponding to the detection result regarding whether or not the safety sensor unit is in contact with an external object according to deformation of the hollow flexible tube caused by an external force; A massage device comprising:

22. In paragraph 17, The above safety sensor part, The first safety sensor detects contact of an external object with the outer surface of the second support member moving in an outward direction based on the withdrawal / entry direction; and A second safety sensor that detects an external object being caught in the space between the second support part and the first support part, which moves inward based on the direction of the withdrawal / entry; A massage device comprising:

23. In paragraph 17, An entry / exit detection unit disposed on at least one of the first support unit and the second support unit, and provided to detect status information on the behavior of the second support unit according to the withdrawal / intake direction; A massage device further comprising:

24. In paragraph 23, The above entry / exit detection unit includes a first support sensor arranged on the first support unit and a second support sensor arranged on the second support unit, The above control unit, A massage device that determines the state information based on a detection result indicating a proximity state between the first support sensor and the second support sensor as the second support sensor moves along the withdrawal / entry direction.

25. In paragraph 17, A massage device, wherein the first support part has an actuator module that provides a driving force for the movement of the second support part.

26. In paragraph 25, The above control unit, A massage device that controls the behavior of the second support part using the load measurement results of the actuator module.

27. In a retractable massage device, A first support portion forming a receiving space for a second support portion; A second support unit comprising a massage module configured to provide a massage to the user's body and configured to be movable along a preset withdrawal / intake direction with respect to the first support unit; and A control unit that identifies the status information of the second support unit and controls the behavior of the second support unit or the operation of the massage module based on the status information; Including, The above status information is, The second support portion includes an inlet state in which the second support portion is introduced into the receiving space and an outlet state in which the second support portion is withdrawn outward from the receiving space and protrudes outward from the first support portion. The above control unit, A massage device, wherein, for the second support part corresponding to the withdrawal state, if at least one of a state linked to the massage function operation of the massage module and a state of the second support part satisfies a preset automatic retraction condition, the behavior of the second support part is controlled so that the second support part is switched to the retraction state.

28. In paragraph 27, The above status information is, A massage device, wherein the second support part further includes a moving state that moves along the withdrawal direction for switching between the withdrawal state and the withdrawal state.

29. In paragraph 28, The above control unit, A massage device, wherein when the second support part is in the withdrawal state, it is determined that the massage function of the massage module is capable of being operated.

30. In paragraph 27, The above second support part has a user operation module, The above control unit, A massage device that controls the behavior of the second support part based on user input authorized for the user operation module.

31. In paragraph 30, The above user operation module, A massage device that receives a user input including a first input for introducing the second support part into the receiving space, a second input for withdrawing the second support part from the receiving space, and a third input for switching the user operation module to a locked state or an unlocked state.

32. In paragraph 31, An output section provided to output guidance information, Including more, The above output section, A massage device, wherein when the user input is applied while the massage module is in a massage function operation state, the device outputs guidance information indicating that the movement of the second support part according to the user input is impossible.

33. In paragraph 27, The above control unit, A massage device that controls the movement speed of the second support part based on the identified status information.

34. In paragraph 27, The above automatic entry conditions are: A massage device, wherein the duration of the withdrawal state of the second support part includes a condition in which a preset threshold time elapses.

35. In paragraph 27, The above automatic entry conditions are: A massage device, wherein the above massage module includes a condition corresponding to a massage function non-operation state.

36. In paragraph 27, The above second support part has a remote control storage module in which a storage space is formed to allow a remote control to be inserted to receive a control input linked to the massage function operation of the massage module. The above control unit, A massage device in which the movement control of the second support part is not performed when the above remote control is not inserted into the above storage space.

37. A massage device having a retractable massage module, A first support portion forming a receiving space for a second support portion; A second support unit comprising a massage module configured to provide a massage to a user's body, and configured to be movable along a preset withdrawal / intake direction with respect to the first support unit; An entry / exit detection unit disposed on at least one of the first support unit and the second support unit; and A control unit that identifies the status information of the second support unit using the detection result of the above entry / exit detection unit, and controls the behavior of the second support unit or the operation of the massage module based on the status information. A massage device comprising:

38. In paragraph 37, The above status information is, A massage device comprising at least one of an inward state in which the second support portion is introduced into the receiving space, an outward state in which the second support portion is withdrawn outward from the receiving space and protrudes outward from the first support portion, and a moving state in which the second support portion moves along the inward and outward direction for switching between the inward state and the outward state.

39. In paragraph 38, The above control unit, A massage device, wherein when the second support part is in the withdrawal state, it is determined that the massage function of the massage module is capable of being operated.

40. In paragraph 37, The above second support part has a user operation module, The above control unit, A massage device that controls the behavior of the second support part based on user input authorized for the user operation module.

41. In paragraph 40, The above user operation module, A massage device that receives a user input including a first input for introducing the second support part into the receiving space, a second input for withdrawing the second support part from the receiving space, and a third input for switching the user operation module to a locked state or an unlocked state.

42. In paragraph 41, The above control unit, A massage device, wherein when the above massage module is in a massage function operating state, the user operation module is switched to the locking state.

43. In paragraph 41, The above control unit, When the above massage module is in a massage function operation state and the user input corresponding to the first input is applied, the movement control of the second support part according to the user input is not performed, or A massage device, wherein when the user input corresponding to the third input is applied while the massage module is in a massage function operation state, the user operation module is not switched to an unlocked state according to the user input.

44. In paragraph 41, An output section provided to output guidance information, Including more, The above output section, A massage device, wherein when the user input is applied while the massage module is in a massage function operation state, the device outputs guidance information indicating that the movement of the second support part according to the user input is impossible.

45. In paragraph 41, The above control unit, A massage device that controls the behavior of the second support part based on the detection result of the position information of the massage module when the user input corresponding to the first input is applied to the user operation module.

46. ​​In paragraph 45, The above control unit, A massage device, wherein if the detection result for the position information of the massage module is determined to correspond to an interference position where at least a part of the massage module may collide with the outer surface of the first support portion when the second support portion moves in the direction of withdrawal, the massage module is controlled so that the position information is switched to a preset initial position.

47. In paragraph 37, The above control unit, A massage device that controls the movement speed of the second support part based on the identified status information.

48. In paragraph 37, The above entry / exit detection unit includes a first support sensor arranged on the first support unit and a second support sensor arranged on the second support unit, The above control unit, A massage device, wherein the state information is determined based on the detection result indicating the proximity state between the first support sensor and the second support sensor as the second support sensor moves along the withdrawal / intake direction.

49. In paragraph 38, The above control unit, A massage device, wherein, for the second support part corresponding to the withdrawal state, if at least one of a state linked to the massage function operation of the massage module and a state of the second support part satisfies a preset automatic retraction condition, the behavior of the second support part is controlled so that the second support part is switched to the retraction state.

50. In paragraph 49, The above automatic entry conditions are: A massage device, wherein the duration of the withdrawal state of the second support part includes a condition in which a preset threshold time elapses.

51. In paragraph 49, The above automatic entry conditions are: A massage device, wherein the above massage module includes a condition corresponding to a massage function non-operation state.

52. In paragraph 49, The above automatic entry conditions are: A massage device, wherein the above massage module includes a condition corresponding to a massage function non-operation state.

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