Massage device providing stretching mode and control method of massage device

Abstract

A massage device according to an embodiment of the present invention comprises: a body massage unit for massaging at least a part of a user's body; an arm massage unit disposed on a side part of the body massage unit and operable in one or more of a left-right direction and an up-down direction; and a control unit for controlling the arm massage unit to operate in the one or more directions to stimulate the user's body.

Description

Massage device providing stretching mode and method for controlling the massage device

[0001] The present invention relates to a massage device including a rotatable arm massage unit, and more specifically, to a massage device capable of providing a stretching effect, etc. to a user by utilizing rotation or movement of the arm massage unit in one or more directions.

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

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

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

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

[0006] Although massage devices having a function of operating an arm massage unit or a leg massage unit have been disclosed, these functions are only used for limited purposes, such as to increase convenience or safety when a user is riding (sitting on, etc.) on a massage device, or to adjust the length to fit the user's body size.

[0007] The present invention was created against the background described above, and its purpose is to provide a massage device that can provide exercise or stretching effects to the body, including the shoulder area of ​​a user, by utilizing the rotation or movement relationship of an arm massage part provided in the massage device.

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

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

[0010] In order to achieve the above object, a massage device according to one embodiment of the present invention may include a body massage unit that massages at least a part of a user's body; an arm massage unit that is arranged on a side of the body massage unit and can be operated in at least one direction among left-right and up-down directions; and a control unit that controls the arm massage unit to be operated in the at least one direction to stimulate the user's body.

[0011] Here, the control unit of the present invention can control the first operation of rotating the arm massage part so that it spreads outward from the body massage part and the second operation of rotating the arm massage part upward to be linked, and can control the second operation to be performed after the first operation.

[0012] According to an embodiment, the arm massage unit of the present invention may include a first arm massage unit arranged on one side of the body massage unit; and a second arm massage unit arranged on the other side of the body massage unit.

[0013] In this case, the control unit of the present invention can control the first operation of at least one of the first and second arm massage units and the second operation of at least one of the first and second arm massage units to be linked.

[0014] In addition, the control unit of the present invention can control the first and second arm massage units to rotate in a direction away from each other, and control the first and second arm massage units to rotate upward.

[0015] According to an embodiment, a massage device according to one embodiment of the present invention may further include a sensor that detects external force applied by a user.

[0016] In this case, the control unit of the present invention can control the first or second operation to stop or the speed at which the first or second operation is performed to decrease when a detection signal in a direction opposite to the direction in which the first or second operation is performed is input from the detection sensor.

[0017] According to an embodiment, the detection sensor of the present invention may be at least one sensor among a sensor that detects a load applied to a driving unit that drives at least one of the first and second operations and a sensor provided in the arm massage unit that detects an external force applied by a user.

[0018] Here, it is preferable that the angle at which at least one of the first and second actions is performed is configured to be variably set based on at least one of the user's physical information, symptom information, and the user's selection information.

[0019] According to an embodiment, a massage device according to one embodiment of the present invention may further include an arm air cell provided in the arm massage part.

[0020] In this case, the control unit of the present invention can control the arm air cell to expand when the rotation angle of the arm massage unit by at least one of the first operation and the second operation is equal to or greater than a reference angle, and it is preferable that the control unit of the present invention be configured to differentially apply the reference angle according to the current angle of the body massage unit.

[0021] Preferably, the arm massage part of the present invention can be configured to be length-extensible, and in this case, the control part of the present invention can control the length of the arm massage part to increase or decrease when at least one of the first and second operations is performed.

[0022] According to an embodiment, a massage device according to one embodiment of the present invention may further include a body driving unit that changes the position or posture of the body massage unit.

[0023] In this case, the control unit of the present invention can control the body drive unit so that the recline operation in which the body massage unit is tilted backward is performed before, after, or during the operation of rotating the arm massage unit in one or more directions.

[0024] According to an embodiment, the control unit of the present invention can control the palm massage unit to perform a second operation of rotating upward.

[0025] In this case, the control unit is characterized in that it controls the second operation to stop or the speed at which the second operation is performed to decrease when a detection signal in a direction opposite to the direction in which the second operation is performed is input from the detection sensor.

[0026] Here, it is preferable that the angle at which the second movement is performed is configured to be variably set based on at least one of the user's physical information, symptom information, and user's selection information.

[0027] According to an embodiment, the control unit of the present invention can control the arm air cell to expand when the rotation angle of the arm massage unit by the second operation is greater than or equal to a reference angle, and can be configured to differentially apply the reference angle according to the current angle of the body massage unit.

[0028] In addition, the control unit of the present invention can control a third operation in which the length of the arm massage unit increases or decreases when the second operation is performed.

[0029] Furthermore, the control unit of the present invention can control the second or third operation to stop or reduce the speed at which the second or third operation is performed when a detection signal in a direction opposite to the direction in which the second or third operation is performed is input from the detection sensor.

[0030] According to an embodiment, the detection sensor of the present invention may be at least one sensor among a sensor that detects a load applied to a driving unit that drives at least one of the second and third operations, or a sensor provided in the arm massage unit that detects an external force applied by a user.

[0031] Here, it is preferable that at least one of the angle at which the second movement is performed and the length at which the third movement is performed be configured to be variably set by one or more of the user's physical information, symptom information, and user's selection information.

[0032] In addition, the control unit of the present invention can control the arm air cell to expand in at least one of the cases where the rotation angle of the arm massage unit by the second operation is greater than or equal to a reference angle and where the length of the arm massage unit by the third operation is greater than or equal to a reference length. In this case, the control unit of the present invention can be configured to differentially apply at least one of the reference angle and the reference length depending on the current angle of the body massage unit.

[0033] Preferably, the control unit of the present invention can control the upward rotation of the arm massage unit so that the arm massage unit reaches the user's head area.

[0034] Specifically, the arm massage unit of the present invention may include a first arm massage unit arranged on one side of the body massage unit, and a second arm massage unit arranged on the other side of the body massage unit.

[0035] A massage device according to one embodiment of the present invention includes a first leg massage unit positioned corresponding to the first arm massage unit, and a second leg massage unit positioned corresponding to the second arm massage unit, and may further include a leg massage unit configured to be able to be extended in length.

[0036] In this case, the control unit of the present invention can control the length control operation of the first arm massage unit and the length control operation of the second leg massage unit to be linked.

[0037] Preferably, the control unit of the present invention can control the leg massage unit having an extended length among the first and second leg massage units to rotate downward.

[0038] In addition, the control unit of the present invention can control the rotation of at least one of the first and second arm massage units and the rotation of at least one of the first and second leg massage units to be linked.

[0039] Preferably, the control unit of the present invention can control the speed of the movement of the arm massage unit rotating in one or more directions to be variable according to the angle at which the arm massage unit is rotated.

[0040] In addition, the control unit of the present invention can control the speed of the movement of the arm massage unit rotating in one or more directions to be reduced as the angle at which the arm massage unit rotates increases.

[0041] According to an embodiment, a massage device according to one embodiment of the present invention may further include a shoulder air cell provided at a position corresponding to the shoulder area of ​​the user.

[0042] In this case, the control unit of the present invention can control the shoulder air cell so that the expansion motion of the shoulder air cell is performed before, after, or during the rotation motion of rotating the arm massage unit in one or more directions.

[0043] Specifically, a massage device according to one embodiment of the present invention may further include a first arm driving unit that drives at least one of rotation and longitudinal expansion of the first arm massage unit; and a second arm driving unit that drives at least one of rotation and longitudinal expansion of the second arm massage unit.

[0044] A method for controlling a massage device according to one embodiment of the present invention for achieving the above purpose may include a control step for controlling the arm massage part to operate in one or more directions of the left-right direction and the up-down direction to stimulate the user's body.

[0045] According to one embodiment of the present invention, it is possible to more effectively induce motion or movement corresponding to an abduction motion or a flexion motion targeting the arm, thereby increasing flexibility, particularly in the shoulder area, and further improving the effect of exercise or stretching.

[0046] According to one embodiment of the present invention, in addition to providing massage, which is a unique function of the massage device, it can also provide practical effects for exercise and stretching targeting arms and legs, etc., thereby further increasing the usability and effectiveness of the massage device.

[0047] In one embodiment of the present invention, rotational moving, linear moving, etc. are applied in a complex manner to the user's body, thereby intensively improving a more three-dimensional exercise and stretching effect.

[0048] According to one embodiment of the invention, by adaptively controlling the expansion and contraction of air cells provided in the arm massage unit, etc. according to the movement of the arm massage unit, etc., the user's body can be firmly supported or the support can be released, thereby further concentrating the effects of stretching, etc., and effectively preventing injuries, etc.

[0049] The following drawings attached to this specification illustrate preferred embodiments of the present invention, and together with the detailed description of the invention described below, serve to more effectively understand the technical idea of ​​the present invention, and therefore, the present invention should not be interpreted as being limited to the matters described in these drawings.

[0050] Figure 1 is a drawing illustrating a massage device according to embodiments of the present invention;

[0051] FIG. 2 is a drawing showing a main frame according to embodiments of the present invention;

[0052] FIG. 3 is a drawing for explaining components of a massage device according to embodiments of the present invention;

[0053] Figure 4 is a drawing for explaining a driving method of a massage device according to one embodiment of the present invention;

[0054] FIG. 5a is a drawing showing a state in which the arm massage part of a massage device according to one embodiment of the present invention is rotated in the up-and-down direction;

[0055] FIG. 5b is a drawing showing a state in which the arm massage part of a massage device according to one embodiment of the present invention is rotated in the left and right direction.

[0056] FIG. 6 is a drawing showing a state in which a rotation module is connected to a main frame according to one embodiment of the present invention.

[0057] Figure 7 is an enlarged view of part A of Figure 6.

[0058] FIG. 8a and FIG. 8b are drawings showing a rotation module and an arm massage unit according to one embodiment of the present invention.

[0059] Figure 9 is a drawing showing a state before the rotation module unit and the arm massage unit are combined according to one embodiment of the present invention.

[0060] Fig. 10 is a perspective view showing a second rotating part according to one embodiment of the present invention;

[0061] Fig. 11 is a bottom view showing a second rotating part according to one embodiment of the present invention;

[0062] Figures 12 to 16 are block diagrams showing the detailed configuration of a massage device according to one embodiment of the present invention.

[0063] Figure 17 is a flowchart explaining the overall processing process of the present invention.

[0064] Figure 18 is a flowchart illustrating a processing process according to one embodiment of the present invention.

[0065] Figure 19 is a flowchart illustrating a processing process according to one embodiment of the present invention for differentially controlling the operating speed.

[0066] FIG. 20 and FIG. 21 are flowcharts illustrating a processing process according to an embodiment of the present invention in which an operation by an additional function is linked to a rotational operation of an arm massage unit.

[0067] In order to achieve the above object, a massage device according to one embodiment of the present invention may include a body massage unit that massages at least a part of a user's body; an arm massage unit that is arranged on a side of the body massage unit and can be operated in at least one direction among left-right and up-down directions; and a control unit that controls the arm massage unit to be operated in the at least one direction to stimulate the user's body.

[0068] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Prior to this, it should be noted that the terms and words used in this specification and claims should not be construed as limited to their conventional or dictionary meanings. Based on the principle that the inventor can appropriately define the concepts of terms to best explain his or her invention, they should be interpreted in a way that conforms to the technical spirit of the present invention.

[0069] Therefore, the embodiments described in this specification and the configurations illustrated in the drawings are only the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention. Therefore, it should be understood that there may be various equivalents and modified examples that can replace them at the time of filing this application.

[0070] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but there may also be other components in between.

[0071] Conversely, when a component is said to be "directly connected" or "directly connected" to another component, this should be understood as meaning that there are no intervening components. Other expressions used to describe relationships between components should also be interpreted in the same way.

[0072] The terms used in this specification are only used to describe specific embodiments and are not intended to limit the present invention, and singular expressions include plural expressions unless the context clearly indicates otherwise.

[0073] As used herein, the terms "comprise" or "have" imply the presence of a feature, number, step, operation, component, part, or combination thereof. Therefore, it should be understood that these terms do not exclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0074] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and shall not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0075] 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.

[0076] Hereinafter, with reference to FIGS. 1 to 11, the basic embodiment of the present invention and the details of the driving mechanism of the present invention will first be described, and the details of the embodiment of the present invention that provides a stretching mode, etc. will be described later.

[0077] Fig. 1 is a drawing showing one embodiment of a massage device according to the present invention. The massage device (100) according to one embodiment of the present invention forms an area for accommodating at least a portion of a user's (10) body, and may include a body massage unit (1000) for massaging the user's body, a leg massage unit (2000) for massaging the user's legs, an arm massage unit (3000), and a driving module unit.

[0078] The above driving module part may include at least one of a rotation module part (5000) that rotates the arm massage part (3000) in the up-down direction and / or left-right direction, an extension part that expands or contracts the length of the arm massage part (3000), and a position adjustment part that adjusts the position of the arm massage part (3000) in the up-down direction, etc., as described below.

[0079] The body massage unit (1000) can provide a massage to at least a part of the user's body. The body massage unit (1000) can include a massage module (1700) that provides a massage function to at least a part of the user's body, an audio output module (1500) for providing an audio output of any form to the user, a main frame (1100) that constitutes the skeleton of the body massage unit (1000), and a user input unit (1400) for receiving an input of any form from the user.

[0080] The configurations included in the body massage unit (1000) described above are merely exemplary embodiments, and the body massage unit (1000) may include various configurations in addition to the configurations described above.

[0081] In addition, the shape and structure of the massage device (100) illustrated in FIG. 1 are merely exemplary, and various forms of massage devices (100) may also be included within the scope of the present invention, as long as they do not exceed the scope of rights defined by the claims of the present invention.

[0082] The body massage unit (1000) can form a space of any shape to accommodate a user. The body massage unit (1000) can have a space of a shape corresponding to the shape of the user's body. For example, as illustrated in FIG. 1, the body massage unit (1000) can be implemented as a seating type capable of accommodating the entire body or a portion of the body of the user (10).

[0083] The part of the body massage unit (1000) that comes into contact with the ground may include any material to increase friction or any member to increase friction (e.g., an anti-slip pad, etc.), and may include wheels to enhance the mobility of the massage device (100).

[0084] At least a portion of the body massage unit (1000) can slide. For example, when the body massage unit (1000) starts a massage, at least a portion of the body massage unit (1000) can slide forward. In addition, the body massage unit (1000) can tilt backward by driving a tilting actuator or the like. As a result, the body massage unit (1000) can provide a massage while tilted backward.

[0085] According to one embodiment of the present invention, the massage device (100) may include at least one air cell. The air cell may be positioned on the user's shoulder area, pelvic area, arm massage part (3000), leg massage part (2000), etc., but is not limited thereto and may be positioned in various parts of the massage device (100).

[0086] The massage device (100) may include an air supply unit (not shown in the drawing), and the air supply unit may inflate the air cell by supplying air to the air cell. The air supply unit may be located inside the body massage unit (1000) or in the leg massage unit (2000). Additionally, the air supply unit may be located outside the massage device (100).

[0087] The leg massage unit (2000) can provide a leg massage to the user. For example, the leg massage unit (2000) can include a calf massage unit that massages the user's calves and / or a foot massage unit that massages the user's feet.

[0088] The leg massage unit (2000) may be adjustable in length depending on the user's physical characteristics. For example, if a tall user uses the massage device (100), the length of the leg massage unit (2000) needs to be increased due to the user's long calf. Furthermore, if a short user uses the massage device (100), the length of the leg massage unit (2000) needs to be decreased due to the user's short calf. Accordingly, the leg massage unit (2000) can provide a leg massage tailored to the user's height.

[0089] Referring to FIG. 1, a plurality of leg massage units (2000) may be provided, and the right and left feet of the user (10) may be placed in each of the plurality of leg massage units (2000A, 2000B). The plurality of leg massage units, specifically a pair of leg massage units (2000A, 2000B), may be driven independently or relatively. The leg massage unit (2000) will be described in detail later.

[0090] A massage module (1700) may be installed inside the body massage unit (1000) to provide any type of mechanical stimulation to a user accommodated in the body massage unit (1000). The massage module (1700) may move along the main frame (1100) installed inside the body massage unit (1000) illustrated in FIG. 1.

[0091] For example, a main frame (1100) of a body massage unit (1000) may be equipped with a rack gear (1112), and a massage module (1700) may move along the rack gear (1112) to provide mechanical stimulation to various parts of the user's body. The massage module (1700) may include a ball massage unit or a roller massage unit, but is not limited thereto.

[0092] The massage module (1700) may be configured to have its protrusions differentially adjusted in the direction toward the seated user, and may also be configured as a dual module with an adjustable spacing between them. Through this configuration, the intensity of the massage provided to the user, as well as the area to which the massage is provided, can be varied.

[0093] The main frame (1100) constitutes the skeleton of the internal structure of the body massage unit (1000) and may be made of metal or plastic. For example, the main frame (1100) may be made of iron, an alloy, steel, or the like, but is not limited thereto and may be made of various solid materials.

[0094] Referring to FIG. 3, according to one embodiment of the present invention, the massage device (100) may include an audio output module (1500).

[0095] The audio output module (1500) may be provided in various locations. For example, the audio output module (1500) may include multiple output units, such as an upper audio output unit positioned on the upper portion of the seat portion (1000a) that comes into contact with a user sitting on the massage device (100), a front audio output unit attached to the front end of the left and right arm massage portions (3000) of the seat portion (1000a), and / or a rear audio output unit attached to the rear end of the arm massage portion (3000), but is not limited thereto.

[0096] The seat portion (1000a) provided in the massage device (100) according to one embodiment of the present invention may include an upper body support portion that supports the user's upper body and a lower body support portion that supports the user's lower body.

[0097] The upper body support part is in contact with the user's upper body, specifically from the head to the back, and supports the user's body, and the lower body support part is in contact with the area below the upper body support part, such as the buttocks and thighs, and supports the user's body.

[0098] According to one embodiment of the present invention, a user can control a massage device (100) using a massage device control device (CD). The massage device control device (CD) can be connected to the massage device (100) via wired communication and / or wireless communication.

[0099] The massage device control device (CD) may include a remote controller, a cellular phone, a personal digital assistant (PDA), etc., and may include various electronic devices that can be connected to the massage device (100) via wired or wireless communication, but are not limited thereto.

[0100] FIG. 2 is a drawing for explaining the main frame (1100) of FIG. 1, and FIG. 3 is a drawing for explaining components of a massage device according to one embodiment of the present invention.

[0101] According to one embodiment of the present invention, the massage device (100) may include at least one of a mainframe (1100), a control unit (1200), a storage unit (1300), a user input unit (1400), an audio output module (1500), a network connection unit (1600), and a massage module (1700).

[0102] The main frame (1100) may be a configuration that forms the skeleton of the body massage unit (1000).

[0103] According to one embodiment of the present invention, the main frame (1100) may include a body frame having a massage module (1700) and a base frame (1130) supporting the body frame.

[0104] The body frame may include a back frame (1110) that forms the skeleton of the user's upper body receiving portion and a seat frame (1120) that forms the skeleton of the seat portion.

[0105] At least a portion of the body frame may be equipped with a rack gear (1112). The rack gear (1112) is a member for guiding the movement of the body massage module in the up-and-down direction (based on FIG. 2), and may include a plurality of ribs and a plurality of floors.

[0106] According to one embodiment of the present invention, the rack gear (1112) may be provided in a form facing each other on both sides of the body frame, specifically, the back frame (1110) and the seat frame (1120), and the body massage module may move along the rack gear (1112).

[0107] For example, the body massage module may include a gear that meshes with the rack gear (1112), and the body massage module may move upward or downward by rotating the gear by an actuator provided in the body massage module.

[0108] The rack gear (1112) may be made of metal or plastic. For example, the rack gear (1112) may be made of iron, steel, alloy, reinforced plastic, melamine resin, phenol resin, etc., but is not limited thereto.

[0109] Body frames can be implemented in various shapes. For example, body frames can be classified into S-frames, L-frames, S&L frames, and double S&L frames, depending on their shape, but are not limited thereto.

[0110] An S-frame means a frame that includes at least a portion of a body frame that is curved like an "S". An L-frame means a frame that includes at least a portion of a body frame that is curved like an "L". An S&L frame means a frame that includes both a curved shape like an "S" and a curved shape like an "L". A double S&L frame means a frame that includes a curved shape like an "L" and two portions of curved shapes like an "S".

[0111] The base frame (1130) refers to the part of the main frame (1100) that supports the body frame and is in contact with the ground. The base frame (1130) may include a base upper frame (1131) and a base lower frame (1132).

[0112] The base upper frame (1131) can support the body frame, and the base lower frame (1132) can be in contact with the ground. In addition, the base upper frame (1131) can be positioned in contact with the base lower frame (1132).

[0113] According to one embodiment of the present invention, the base upper frame (1131) can move along the base lower frame (1132). For example, the base upper frame (1131) can slide forward or backward along the base lower frame (1132). In this case, the body frame is connected to the base upper frame (1131) and can move according to the movement of the base upper frame (1131).

[0114] For example, when the base upper frame (1131) moves forward, the body frame can also move forward, and when the base upper frame (1131) moves backward, the body frame can also move backward. As a result, sliding movement of the body massage unit (1000) can be permitted.

[0115] The control unit (1200) can control the operation of the massage device (100). The control unit (1200) can be implemented with one or more processors. If the control unit (1200) is implemented with multiple processors, at least some of the processors can be physically separated from each other. The control unit (1200) is not limited thereto and can be implemented in various ways.

[0116] For example, the control unit (1200) may correspond to one or more processors. The processor may be implemented as an array of multiple logic gates, or may be implemented as a combination of a general-purpose microprocessor and a memory storing a program executable on the microprocessor. It should be understood that the control unit (1200) may also be implemented as hardware of other types.

[0117] According to one embodiment of the present invention, the control unit (1200) can control the operation of the massage device (100).

[0118] For example, the massage device (100) may include a plurality of actuators, and the massage device (100) may control the operation of the massage device (100) by controlling the operation of the plurality of actuators.

[0119] For example, the massage device (100) may include at least one of a massage module movement actuator, at least one actuator included in the massage module (1700), an isometric actuator, a leg angle actuator, a foot massage actuator, a leg length adjustment actuator, and a sliding actuator, and the control unit (1200) may control the operation of the massage device (100) by controlling these.

[0120] In this specification, the 'leg length adjustment actuator' may refer to a connecting drive unit provided in the leg massage unit (2000). The massage module (1700) movement actuator is an actuator that enables the massage module (1700) to move up and down, and the massage module (1700) can move along the rack gear (1112) by the operation of the massage module movement actuator.

[0121] The isometric actuator is an actuator that adjusts the angle of the part of the massage device (100) that the user's back touches, and the isometric angle of the massage device (100) can be adjusted by the operation of the isometric actuator.

[0122] The leg angle actuator is an actuator that adjusts the angle of the leg massage part (2000) of the massage device (100), and the angle between the leg massage part (2000) and the body massage part (1000) can be adjusted by the operation of the leg angle actuator.

[0123] The foot massage actuator refers to an actuator that operates a foot massage module included in a leg massage unit (2000), specifically a foot massage unit (2200). By utilizing the foot massage actuator, the massage device (100) can provide a foot massage to a user.

[0124] The massage module (1700) may include at least one actuator, and the control unit (1200) may provide various massage movements by operating the at least one actuator. For example, the control unit (1200) may provide tapping massage, kneading massage, etc., by operating the at least one actuator included in the massage module (1700), but is not limited thereto and may provide various massage movements.

[0125] The leg length adjustment actuator, i.e., the connecting drive unit, represents an actuator that adjusts the length of the leg massage unit (2000). For example, the control unit (1200) can utilize the leg length adjustment actuator to adjust the length of the leg massage unit (2000) to suit the user, and as a result, the user can receive a massage suited to their body type.

[0126] The sliding actuator enables the sliding motion of the massage device (100). For example, by the motion of the sliding actuator, the horizontal base upper frame (1131) can move forward or backward, and as a result, the body frame connected to the horizontal base upper frame (1131) can also move forward or backward.

[0127] The storage unit (1300) can store various information related to the massage device (100). For example, the storage unit (1300) can include massage control information and personal authentication information, but is not limited thereto.

[0128] The storage unit (1300) can be implemented through a non-volatile storage medium capable of continuously storing arbitrary data.

[0129] The storage unit (1300) may include memory. Memory may refer to a primary storage device directly accessed by the processor, such as a random access memory (RAM) such as DRAM or SRAM, and may refer to a volatile storage device whose stored information is instantly erased when power is turned off, but is not limited thereto. Such memory may be operated by the control unit (1200).

[0130] The user input unit (1400) may be configured to receive commands related to the control of the operation of the massage device (100) from the user. The user input unit (1400) may be implemented in various forms depending on the specifications of the product, etc., and the position in which it is provided may also vary.

[0131] The massage device (100) can obtain various commands from the user through the user input unit (1400). For example, the massage device (100) can receive any command related to selection of a massage module, selection of a massage mode, selection of a massage intensity, selection of a massage time, selection of a massage area, selection of a position and operation of a body massage unit (1000), selection of turning the power of the massage device (100) on and off, selection of whether or not to operate a heating function, selection of a sound source playback, etc., but is not limited thereto.

[0132] As an optional embodiment, the user input unit (1400) may be provided with hot key type buttons and / or selection buttons for selecting a direction, canceling, executing an input, etc., according to preset user-defined functions or self-preset functions.

[0133] The user input unit (1400) may be implemented as a key pad, a dome switch, a touch pad (static / capacitive), a jog wheel, a jog switch, etc., but is not limited thereto. In addition, the user input unit (1400) may obtain commands through the user's speech based on voice recognition technology.

[0134] According to the embodiment, the user input unit (1400) may include a display means for displaying the operating status of the massage device (100) or the current status of the user.

[0135] The audio output module (1500) may be configured to output audio to the user in various ways and forms. For example, the audio output module (1500) may provide brain stimulation to the user by outputting sound sources and / or binaural beats optimized for the massage pattern provided by the massage device (100). The audio output module (1500) may output an audio signal received via a network (not shown) or stored in an internal / external storage medium (not shown).

[0136] For example, the audio output module (1500) can output a sound source according to the control of the user terminal through a network connection (e.g., Bluetooth connection, etc.) with the user terminal. In addition, the audio output module (1500) can output an audio signal of any form generated in relation to the operation of the massage device (100).

[0137] A massage device (100) according to one embodiment of the present invention may include a network connection unit (1600).

[0138] The network connection unit (1600) can communicate with a module inside the massage device (100), an external massage device (100), and / or a user terminal through any type of network, and can include a wired / wireless connection module for network connection.

[0139] As described above, a massage device (100) according to one embodiment of the present invention may include a massage module (1700). The massage module (1700) is configured to provide a mechanical stimulus to a user, and the massage module (1700) may move along the main frame (1100).

[0140] The control unit (1200) can provide a massage by controlling the operation of the massage module (1700) to apply mechanical stimulation to the user.

[0141] The control unit (1200) can move the massage module (1700) in the directions of the X-axis, Y-axis, and Z-axis. The control unit (1200) can move the massage ball forward or backward along the X-axis, Y-axis, and Z-axis. Alternatively, the control unit (1200) can rotate the massage ball around the X-axis, Y-axis, and Z-axis.

[0142] A massage device (100) according to one embodiment of the present invention may include a sensor unit (4000). At this time, the sensor unit (4000) may include at least one sensor. For example, the sensor unit (4000) may include a touch sensor, a pressure sensor, an infrared sensor, an LED sensor, a photo sensor, a hall sensor, an electrostatic sensor, etc., but is not limited thereto.

[0143] The sensor unit (4000) can be used to acquire various types of information. For example, the sensor unit (4000) can be used to recognize the user. That is, information can be acquired regarding whether the user is seated, the user's body shape, and any abnormalities in the user's body.

[0144] As another example, the sensor unit (4000) can be used to acquire biometric information. That is, it can acquire fingerprint information, facial information, voice information, weight information, electrocardiogram information, iris information, body composition information, etc., and can include various types of biometric information without being limited thereto.

[0145] According to an embodiment, the massage device (100) can detect a contact area and / or contact location with the user through the sensor unit (4000) and obtain information on the user's shoulder location through the sensor unit (4000).

[0146] Additionally, the massage device (100) can provide a customized massage based on the acquired information. For example, when the massage device (100) provides a shoulder massage, the massage device (100) can recognize the user's shoulder position based on the information acquired through the sensor unit (4000) and provide the user with a shoulder massage based on the recognition result.

[0147] The leg massage unit (2000) may be configured to massage the user's legs. The leg massage unit (2000) may be provided with a leg receiving space for accommodating the user's legs.

[0148] Referring to FIG. 1, FIG. 4, FIG. 5A, and FIG. 5B, a plurality of leg massage units (2000) may be provided, and the user's right foot and left foot may be respectively accommodated in the plurality of leg massage units (2000A, 2000B).

[0149] Specifically, the multiple leg massage units (2000A, 2000B) may include a foot massage unit and a calf massage unit, and the user's right foot and left foot may be inserted, placed, and accommodated, respectively.

[0150] FIG. 4 is a drawing for explaining a driving method of a massage device according to one embodiment of the present invention.

[0151] Referring to FIG. 4, multiple leg massage units (2000A, 2000B) can be driven independently by receiving an electrical signal from the control unit (1200).

[0152] The multiple leg massage units (2000A, 2000B) can be hingedly (or rotatably) connected to the body massage unit (1000), specifically to the main frame (1100).

[0153] Referring to FIG. 4, due to the power generated from the hinge drive unit (2700) connected to the main frame (1100), the leg massage unit (2000) is hinged (or rotated) clockwise or counterclockwise based on the hinge (or rotation) center axis preset in the main frame (1100), and the leg angle can be adjusted.

[0154] Referring to FIG. 4, a hinge drive unit (2700) may be provided in each of the multiple leg massage units (2000A, 2000B).

[0155] As shown in FIG. 4, various implementations are possible, such as adjusting the leg angle by rotating only one of the multiple leg massage parts (2000A, 2000B) relative to the main frame (1100) or adjusting the leg angle so that the multiple leg massage parts (2000A, 2000B) form the same angle relative to the main frame (1100).

[0156] Referring to FIG. 1, an arm massage unit (3000) according to one embodiment of the present invention can be inserted into a user's arm and provide an arm massage function to the user.

[0157] A plurality of arm massage units (3000) may be provided, and the right and left arms of the user (10) may be inserted into each of the plurality of arm massage units (3000A, 3000B). The plurality of arm massage units (3000A, 3000B) may be driven independently or relatively. The arm massage units (3000) will be described in detail later.

[0158] FIG. 5a is a drawing showing a state in which the arm massage part of a massage device according to one embodiment of the present invention rotates in an up-and-down direction, and FIG. 5b is a drawing showing a state in which the arm massage part of a massage device according to one embodiment of the present invention rotates in a left-right direction.

[0159] FIG. 6 is a drawing showing a state in which a rotation module part is connected to a main frame according to one embodiment of the present invention, FIG. 7 is an enlarged drawing of part A of FIG. 6, and FIGS. 8a and 8b are drawings showing a rotation module part and an arm massage part according to one embodiment of the present invention.

[0160] FIG. 9 is a drawing showing a state before the rotation module unit and the arm massage unit are combined according to one embodiment of the present invention, FIG. 10 is a perspective view showing a second rotation unit according to one embodiment of the present invention, and FIG. 11 is a bottom view showing a second rotation unit according to one embodiment of the present invention.

[0161] Referring to FIGS. 2, 6 and 7, a body massage unit (1000), specifically a main frame (1100), according to one embodiment of the present invention may further include a module frame (1150).

[0162] The module frame (1150) is coupled to the back frame (1110) that forms the skeleton of the upper body receiving portion of the user (10), and may include a base frame body (1151) and side frame bodies (1153a, 1153b). A rotation module portion (5000) may be connected to the module frame (1150).

[0163] Referring to FIGS. 2, 6 and 7, a plurality of module frames (1150) according to one embodiment of the present invention may be provided to correspond to a pair of rotation module parts (5000) connected to a pair of arm massage parts (3000A, 3000B).

[0164] Specifically, a pair of module frames (1150) can be connected to each side of the main frame (1100), specifically the back frame (1110).

[0165] Referring to FIGS. 6 and 7, the base frame body (1151) according to one embodiment of the present invention can contact and support one surface of the rotation module part (5000), specifically, the first rotation part (5100), which will be described later.

[0166] Specifically, the base frame body (1151) is connected to the side frame body (1153a, 1153b) to be described later, and can contact and support one side of the first rotating part (5100).

[0167] The base frame body (1151) can be formed to extend at a preset angle, specifically perpendicular to the longitudinal central axis of the side frame bodies (1153a, 1153b). As a result, the module frame (1150) can stably contact and support one side (lower side as shown in FIG. 7) of the rotation module unit (5000).

[0168] Referring to FIGS. 2, 6 and 7, a pair of side frame bodies (1153a, 1153b) according to one embodiment of the present invention are provided as being connectable to a base frame body (1151), and can contact and support both sides of the first rotating part (5100).

[0169] Referring to FIG. 2 and FIG. 7, a pair of side frame bodies (1153a, 1153b) can be spaced apart from each other by a preset distance.

[0170] A first rotating part (5100) can be inserted through a space formed between a pair of side frame bodies (1153a, 1153b), and the pair of side frame bodies (1153a, 1153b) can contact and support both sides (upper and lower sides as shown in FIG. 7) of the first rotating part (5100).

[0171] Among a pair of side frame bodies (1153a, 1153b), the side frame body (1153a) that contacts and supports one side (lower side in FIG. 7) of the first rotating part (5100) is connected to the base frame body (1151) and can contact and support one side (lower side in FIG. 7) of the first rotating part (5100).

[0172] Due to this, the first rotation part (5100) can be fixed in position to the main frame (1100), specifically, the module frame (1150), and the rotation center axis (AX1) of the rotation body (5130) provided to the first rotation part (5100), which is the first rotation center axis of the palm massage part (3000), can be stably maintained.

[0173] According to one embodiment of the present invention, the side frame bodies (1153a, 1153b) may be connected to the back frame (1110), respectively. As an optional embodiment, the side frame bodies (1153a, 1153b) and the first rotating part (5100) may be connected by a fastening member such as a bolt.

[0174] Referring to FIGS. 1, 5a, 5b, 6, 8a, 8b, and 9, the rotation module (5000) according to one embodiment of the present invention rotates the arm massage unit (3000) in the up-and-down direction and / or left-right direction relative to the body massage unit (1000). The rotation module (5000) will be described in detail later, and the arm massage unit (3000) will be described first below.

[0175] Referring to FIG. 1, FIG. 5a, FIG. 5b, FIG. 6, FIG. 8, and FIG. 9, an arm massage unit (3000) according to one embodiment of the present invention accommodates a user's arm and can massage the user's arm.

[0176] According to one embodiment of the present invention, a pair of arm massage units (3000) may be provided to be placed on both sides of a body massage unit (1000).

[0177] A pair of arm massage parts (3000A, 3000B) can accommodate the right and left arms of a user (10), respectively. The pair of arm massage parts (3000A, 3000B) can be driven independently or relatively.

[0178] Referring to FIGS. 5a, 5b, 8a, and 8b, the arm massage unit (3000) can receive power from the rotation module unit (5000) and rotate with respect to the body massage unit (1000).

[0179] Referring to FIGS. 5a and 5b, the arm massage unit (3000) can be rotated left and right with respect to the body massage unit (1000) based on the first rotation center axis (AX1), and can be rotated up and down with respect to the body massage unit (1000) based on the second rotation center axis (AX2).

[0180] Referring to FIG. 1, FIG. 5a, FIG. 5b, FIG. 6, FIG. 8a, FIG. 8b, and FIG. 9, an arm massage unit (3000) according to one embodiment of the present invention may include an arm housing unit (3100), an arm massage main body unit (3300), an arm movement guide unit (3330), and a shoulder air cell (3500).

[0181] Referring to FIG. 1, FIG. 5a, FIG. 5b, FIG. 8a, FIG. 8b, and FIG. 9, an arm housing part (3100) according to one embodiment of the present invention is formed with an arm receiving part (3110) that receives a user's arm, and can be connected to a rotation module part (5000).

[0182] Referring to FIGS. 8A, 8B, and 9, the arm massage unit (3000B) for receiving the user's left arm is illustrated. Since the configuration, operating principle, and effect are the same as those of the arm massage unit (3000A) for receiving the user's right arm, the following description will be based on the arm massage unit (3000B) for receiving the user's left arm.

[0183] Referring to FIG. 9, the arm housing part (3100) forms the exterior of the arm massage part (3000), and an arm receiving part (3110), which is a space in which the user's arm can be received, can be formed on the inside.

[0184] Referring to FIG. 9, the arm housing part (3100) can be connected to the rotation module part (5000) to be described later, specifically, the second rotation part (5500), and the arm housing part (3100) can be rotated around a rotation center axis (AX2) that is set in advance by the rotational power generated from the second rotation part (5500).

[0185] From another perspective, the arm housing part (3100) can be rotated up and down (based on FIG. 5a) with respect to the body massage part (1000) with the second rotation center axis (AX2) as the rotation center axis.

[0186] Referring to Fig. 9, a rotation guide portion (3105) may be formed in the shape of a groove on one surface of the arm housing portion (3100) facing the rotation module portion (5000), specifically the second rotation portion (5500). The rotation guide portion (3105) may have a preset distance from the second rotation center axis (AX2) and may be formed in a preset section along the circumferential direction.

[0187] That is, a stopper (5511) formed in the second rotation part (5500) is inserted into the rotation guide part (3105), and the arm housing part (3100) can rotate only in the section where the rotation guide part (3105) is formed.

[0188] For example, if the rotation guide part (3105) is formed in a section corresponding to 180 degrees along the circumferential direction with the second rotation center axis (AX2) as the center, the arm housing part (3100) can rotate 180 degrees with respect to the body massage part (1000) and the second rotation part (5500).

[0189] However, it is not limited to this, and various modifications can be implemented, such as the rotation guide part (3105) being extended to have sections of 90 degrees and 270 degrees centered on the second rotation center axis (AX2).

[0190] According to one embodiment of the present invention, a rotation guide part (3105) is formed in the arm housing part (3100), and a stopper (5511) of the second rotation part (5500) can be placed on the rotation guide part (3105).

[0191] Accordingly, the arm housing part (3100) can rotate around the second rotation center axis (AX 2) until both ends of the rotation guide part (3105) contact the stopper (5511) provided in the second rotation part (5500), and the section where the rotation guide part (3105) is formed can be set to the rotational angle of the arm massage part (3000) with respect to the second rotation part (5500).

[0192] That is, there is an effect of limiting the rotation angle of the arm massage part (3000) due to the rotation guide part (3105) formed in the arm housing part (3100) and the stopper (5511) formed in the second rotation part (5500).

[0193] Referring to FIG. 5a, a coupling protrusion (3101) may be formed to protrude on one surface (the lower surface based on FIGS. 8a and 8b) of the arm housing portion (3100) according to one embodiment of the present invention. As illustrated in FIG. 1, the arm massage portion (3000) may be placed on the body massage portion (1000) at the initial position of the massage device (100) where the user (10) sits.

[0194] At this time, a connecting projection (3101) may be formed extending along the longitudinal direction (e.g., the front-back direction of the massage device (100)) on one side (bottom surface based on FIG. 1) of the arm housing part (3100) that is mounted on the body massage part (1000).

[0195] A protrusion groove (1005) may be formed on one side of the body massage part (1000) facing one side of the arm housing part (3100) where the coupling protrusion (3101) is formed. The protrusion groove (1005) may be formed in a shape corresponding to the shape of the coupling protrusion (3101) formed on the arm housing part (3100).

[0196] When the arm massage part (3000) is placed on the body massage part (1000), the joining protrusion (3101) formed on the arm massage part (3000) is inserted and placed into the protrusion groove (1005) formed on the body massage part (1000), thereby providing the effect that the arm massage part (3000) can be stably placed on the body massage part (1000) at a preset position.

[0197] In the present invention, the coupling protrusion (3101) is formed in an extended bar shape, but is not limited thereto. The coupling protrusion (3101) is positioned on the inside of the protrusion groove (1005) formed on the body massage part (1000), and various modifications can be made within the technical concept of guiding the position of the arm massage part (3000).

[0198] Referring to FIGS. 8A, 8B, and 9, the arm receiving portion (3110) is a receiving space into which the user's arm can be inserted, and may be formed in the shape of a groove along a preset depth. The arm massage main body (3300), which will be described later, may be placed in the arm receiving portion (3110).

[0199] Referring to FIGS. 8a and 8b, a shoulder air cell (3500) can be placed in the arm housing (3100).

[0200] The shoulder air cell (3500) may be configured to secure at least a portion of the user's arm. The shoulder air cell (3500) disposed in the arm housing (3100) may be configured to receive air from a separately provided air supply unit, inflate, and secure at least a portion of the user's arm, for example, the shoulder area.

[0201] Referring to FIGS. 8a and 8b, a shoulder air cell (3500) according to one embodiment of the present invention can be placed in an area corresponding to a user's shoulder.

[0202] Referring to FIGS. 5b, 6, 8a, 8b, and 9, the arm massage main body (3300) according to one embodiment of the present invention is installed in the arm housing (3100), and can provide a massage function to the user's arm while allowing the user's arm to rest thereon.

[0203] An arm massage main body (3300) according to one embodiment of the present invention may include an arm massage main body (3310) and an arm movement guide part (3330). The arm massage main body (3310) is configured to allow the user's arm to rest on it and is capable of making contact with the user's arm.

[0204] Although not shown in the drawing, an air cell may be placed in the arm massage body (3310). The air cell may be supplied with air from an air supply unit, inflated and / or deflated, and may apply pressure to the user's arm and provide a massage function.

[0205] As an optional embodiment, a massage module (not shown) may be placed in the arm massage body (3310). The massage module may include a roller, come into contact with the user's arm, and provide a massage function.

[0206] The arm massage body (3310) can be movably positioned inside the arm receiving portion (3110). Referring to FIGS. 8A and 8B, the arm massage body (3310) according to one embodiment of the present invention can be moved along a preset direction on the arm movement guide portion (3330) to be described later, and its position can be adjusted.

[0207] Referring to FIG. 6, FIG. 8a, and FIG. 8b, an arm movement guide unit (3330) according to one embodiment of the present invention is disposed on an arm receiving unit (3110) and provides a movement path of an arm massage body (3310), and may include a guide plate (3331) and a guide rail (3335).

[0208] The guide plate (3331) is coupled to the arm massage body (3310), and as the guide plate (3331) moves on the guide rail (3335), the arm massage body (3310) coupled to the guide plate (3331) can move together.

[0209] Referring to FIGS. 8a and 8b, a guide rail (3335) according to one embodiment of the present invention is arranged on an arm receiving portion (3110) formed in an arm housing portion (3100), and can provide a movement path of a guide plate (3331) and an arm massage body (3310) coupled with the guide plate (3331).

[0210] The guide rail (3335) can be formed to extend along a preset direction (back and forth direction based on FIGS. 8a and 8b), and the guide plate (3331) and the arm massage body (3310) coupled with the guide plate (3331) can move on the guide rail (3335).

[0211] In this specification, the 'front-back direction' in which the arm massage body (3310) moves means the direction when the direction from the user's shoulder to the fingers is considered forward, and the direction from the user's fingers to the shoulder is considered backward.

[0212] Although not shown in the drawing, the arm movement guide unit (3330) may include a guide driving unit that is driven by receiving power from the outside, and the guide plate (3331) coupled to the arm massage body (3310) may move linearly forward and / or backward on the guide rail (3335) by the power generated from the guide driving unit.

[0213] The guide drive unit can generate power by a motor, or by a pneumatic or hydraulic cylinder.

[0214] As an optional embodiment, the guide plate (3331) may include a roller capable of cloud contact with the guide rail (3335).

[0215] As an optional embodiment, the guide plate (3331) may include a block that is slidable on the guide rail (3335), and the block may move by making surface contact on a groove formed in the guide rail (3335).

[0216] The control unit (1200) can be electrically connected to the guide driving unit and the rotation module unit (5000), and when the arm massage unit (3000) rotates relative to the body massage unit (1000) by the rotational power generated from the rotation module unit (5000), it can transmit an electrical signal to the guide driving unit to control the amount of movement of the arm massage body (3310).

[0217] That is, the control unit (1200) can control the amount of movement of the arm massage body (3310) on the arm movement guide unit (3330) based on the amount of rotation of the arm massage unit (3000), and has the effect of linearly moving the arm massage body (3310) in response to the position of the user's arm changing as the arm massage unit (3000) rotates.

[0218] Referring to FIG. 1, FIG. 5a, FIG. 5b, and FIG. 6 to FIG. 11, a rotation module unit (5000) according to one embodiment of the present invention connects an arm massage unit (3000) and a body massage unit (1000), has a plurality of different rotation center axes (AX1, AX2), and can generate rotational power based on the plurality of rotation center axes (AX1, AX2).

[0219] Referring to FIGS. 5A and 5B, a rotation module unit (5000) according to one embodiment of the present invention can rotate an arm massage unit (3000) about a plurality of rotational central axes (AX1, AX2). A pair of rotation modules (5000) are provided to correspond to a pair of arm massage units (3000A, 3000B), and can be arranged on each side of a body massage unit (1000). A pair of rotation modules (5000) can be driven independently of each other.

[0220] The rotation module (5000) may include a first rotation unit (5100) and a second rotation unit (5500).

[0221] According to one embodiment of the present invention, the first rotation part (5100) can rotate the arm massage part (3000) in the left and right directions with respect to the body massage part (1000) with respect to the first rotation center axis (AX1), thereby generating rotational power.

[0222] The first rotation part (5100) can rotate the arm massage part (3000) in the left and right directions (based on Fig. 5b) relative to the body massage part (1000).

[0223] The second rotation part (5500) according to one embodiment of the present invention can rotate the arm massage part in the up-and-down direction with respect to the body massage part (1000) based on a second rotation center axis (AX2) that is different from the first rotation center axis (AX1).

[0224] That is, the second rotation part (5500) generates rotational power based on the second rotation center axis (AX2), and can rotate the arm massage part (3000) in the up-and-down direction (based on FIG. 5a) with respect to the body massage part (1000).

[0225] According to one embodiment of the present invention, the rotation module unit (5000) can have a first rotation unit (5100) generate rotational power based on a first rotational center axis (AX1), and a second rotation unit (5500) generate rotational power based on a second rotational center axis (AX2).

[0226] However, it is not limited to this, and various modifications are possible, such as the first rotating part (5100) generating rotational power based on the second rotating center axis (AX2), and the second rotating part (5500) generating rotational power based on the first rotating center axis (AX1).

[0227] Hereinafter, the first rotating part (5100) connected to the main frame (1100), specifically the module frame (1150), generates rotational power based on the first rotational center axis (AX1), and the second rotating part (5500) generates rotational power based on the second rotational center axis (AX2) will be described as the basis.

[0228] Referring to Fig. 7, the first rotating part (5100) and the second rotating part (5500) according to one embodiment of the present invention can be coupled to enable relative rotation. The first rotating part (5100) and the second rotating part (5500) according to one embodiment of the present invention can be formed identically.

[0229] That is, the first rotation part (5100) and the second rotation part (5500) have the same configuration and are coupled to be able to rotate relative to each other, so that the part structure can be simplified and modularized when the arm massage part (3000) is rotated relative to the body massage part (1000).

[0230] Referring to FIGS. 6 to 9, a first rotating part (5100) according to one embodiment of the present invention may include a main housing (5110), a rotating body (5130), and a rotating driving part (5150).

[0231] Specifically, the first rotation part (5100) may include a main housing (5110) that can be placed in the body massage part (1000), a rotation body that is rotatably placed in the main housing (5110), and a rotation driving part (5150) that is installed in the main housing (5110) and receives power and transmits power to the rotation body (5130).

[0232] Referring to FIG. 7, FIG. 8a, and FIG. 8b, the main housing (5110) forms the exterior of the first rotating part (5100) and can be placed on the body massage part (1000), specifically, the module frame (1150) provided on the main frame (1100).

[0233] Referring to FIG. 7, the main housing (5110) can be inserted between a module frame (1150), specifically, a pair of side frame bodies (1153a, 1153b). That is, both sides (upper and lower surfaces as shown in FIG. 7) of the main housing (5110) can be contact-supported by a pair of side frame bodies (1153a, 1153b).

[0234] Referring to FIG. 7, one side (bottom surface based on FIG. 7) of both sides of the main housing (5110) that is contact-supported by a pair of side frame bodies (1153a, 1153b) can be contact-supported by a module frame (1150), specifically, a base frame body (1151) that is connected to the side frame body (1153a).

[0235] The first rotating part (5100), specifically the main housing (5110), is connected to the module frame (1150) and is placed on the main frame (1100), so that the position of the first rotating part (5100) can be stably fixed.

[0236] In addition, since a pair of side frame bodies (1153a, 1153b) contact and support both sides of the main housing (5110), there is an effect of preventing the main housing (5110) from rotating or twisting.

[0237] Referring to FIGS. 8a, 8b, and 9, a main housing (5110) according to one embodiment of the present invention may include a rotating body (5130) and a rotating drive unit (5150).

[0238] Referring to Fig. 11, a stopper (5111) may be formed protrudingly on one surface (upper surface based on Fig. 9) of the first rotating part (5100) that can come into contact with the second rotating part (5500).

[0239] FIG. 11 is a drawing showing one side (bottom surface based on FIG. 10) of a second rotating part (5500) that is connected to the first rotating part (5100) in a relative rotational manner. A stopper (5111) that is formed protruding from the first rotating part (5100), specifically the main housing (5110), can be placed inside a rotation guide part (5513) formed in the shape of a groove.

[0240] That is, when the second rotating part (5500) rotates on the first rotating part (5100), it rotates clockwise and / or counterclockwise with respect to the first rotation center axis (AX1), and the position of the stopper (5111) formed on the first rotating part (5100) is fixed, and the rotation guide part (5513) moves as the second rotating part (5500) rotates.

[0241] Referring to FIG. 11, when the stoppers (5111) formed protrudingly on the main housing (5110) of the first rotating part (5100) come into contact with the two ends of the rotation guide part (5513) formed on the second rotating part (5500), the second rotating part (5500) can no longer rotate, so that the rotation amount (or rotation angle) of the second rotating part (5500) rotating on the first rotating part (5100) can be limited.

[0242] Referring to FIGS. 8a, 8b, and 9, a rotation coupling groove (5115) may be formed in the shape of a groove on one side (upper side as shown in FIG. 9) of a first rotation part (5100) that can come into contact with a second rotation part (5500) according to one embodiment of the present invention, which is different from the other side (right side as shown in FIG. 9).

[0243] Specifically, the first rotating part (5100) may be a surface perpendicular to the first surface. From another perspective, the depth-direction central axis of the rotating coupling groove (5115) formed on the surface may be formed parallel to the second rotating central axis (AX2) of the second rotating part (5500).

[0244] That is, since the first rotating part (5100) and the second rotating part (5500) have the same configuration so that they can be coupled to each other so as to be able to rotate relative to each other, a rotating coupling groove (5115) can be formed in the shape of a groove so that a rotating body provided in one of the rotating parts that generates rotational power based on the second rotational center axis (AX2) can be inserted and coupled to the first rotating part (5100).

[0245] Referring to FIGS. 8a, 8b, and 9, on one side of the main housing (5110) where the rotation coupling groove (5115) is formed, a rotation guide portion (5113) can be formed to extend in the shape of the groove along the circumferential direction at a preset distance from the center of the rotation coupling groove (5115).

[0246] The rotation guide part (5113) formed in the first rotation part (5100) has the same configuration as the rotation guide part (5513) formed in the second rotation part (5500), so it will be described in detail later.

[0247] Referring to FIG. 9, a rotating body (5130) according to one embodiment of the present invention is rotatably placed in the main housing (5110) and can be combined with a second rotating part (5500).

[0248] The rotating body (5130) penetrates one side of the main housing (5110) and a preset area can be exposed to the outside. The area can be combined with the main housing (5510) of the second rotating part (5500).

[0249] The rotating body (5130) can receive power from the rotating drive unit (5150) to be described later and transmit the power to the second rotating unit (5500) connected to the first rotating unit (5100).

[0250] Referring to Fig. 9, a rotating body (5130) provided in a first rotating part (5100) according to one embodiment of the present invention can rotate around a first rotational center axis (AX1) as a rotational center axis. The rotating body (5130) can be coupled with a main housing (5510) provided in a second rotating part (5500).

[0251] Accordingly, as the rotating body (5130) rotates, the main housing (5510) provided in the second rotating part (5500) can rotate together, and as the main housing (5510) rotates, the arm massage part (3000) coupled with the second rotating part (5500) can rotate clockwise and / or counterclockwise with respect to the first rotation center axis (AX1) (left-right direction based on FIG. 5b).

[0252] Referring to FIG. 5b, a pair of arm massage parts (3000A, 3000B) according to one embodiment of the present invention can each rotate around a first rotation center axis (AX1a, AX1b) by rotational power generated from a first rotation part (5100).

[0253] For example, when a pair of arm massage parts (3000A, 3000B) are rotated in opposite directions with respect to each first rotation center axis (AX1a, AX1b), the pair of arm massage parts (3000A, 3000B) can move closer to each other so as to be positioned on the sheet part (1000a) formed in the body massage part (1000), and can move away from each other toward the outside of the body massage part (1000), as illustrated in FIG. 5b.

[0254] As an optional embodiment, a pair of arm massage units (3000A, 3000B) can rotate in the same direction with respect to the first rotation center axis (AX1a, AX1b).

[0255] As an optional embodiment, a pair of arm massage units (3000A, 3000B) can be driven independently.

[0256] Although not shown in the drawing, the rotating body (5130) provided in the first rotating part (5100) can be inserted and coupled into the rotating coupling groove (5515) formed in the main housing (5510) provided in the second rotating part (5500).

[0257] As a result, as the rotating body (5130) provided in the first rotating part (5100) rotates, the main housing (5510) provided in the second rotating part (5500) can rotate together.

[0258] Referring to FIGS. 8a and 8b, a rotary drive unit (5150) according to one embodiment of the present invention is installed in the main housing (5110) and can receive power from the outside and transmit power to the rotary body (5130).

[0259] Referring to FIGS. 8A and 8B, the rotary drive unit (5150) may include a drive body (5151) and a power transmission unit (5153). The drive body (5151) generates power and may be formed as a motor. The drive body (5151) may receive power from an external source to generate rotational power and transmit the rotational power to the power transmission unit (5153).

[0260] Referring to FIGS. 8a and 8b, a power transmission unit (5153) according to one embodiment of the present invention may include at least one gear. Specifically, the power transmission unit (5153) includes a plurality of gears (5153a, 5153b, 5153c) and may transmit power generated from a driving body (5151) to a rotating body (5130).

[0261] The gears (5153a, 5153b, 5153c) provided in the power transmission unit (5153) according to one embodiment of the present invention may be formed as a worm gear, a helical gear, or the like.

[0262] Referring to FIGS. 8a and 8b, the first gear (5153a) coupled with the driving body (5151) may be formed as a worm gear, and the second gear (5153b) connected to the first gear (5153a) may be formed as a gear in which a helical gear and a worm gear are integrated.

[0263] Additionally, the third gear (5153c) connected to the second gear (5153b) may be formed as a helical gear with the first rotation center axis (AX1), which is the rotation center axis of the rotating body (5130), as its rotation center axis.

[0264] However, it is not limited to this, and within the technical concept of being able to transmit power generated from the driving body (5151) to the rotating body (5130), the power transmission unit (5153) can be implemented in various modifications, such as adopting a power transmission method of various gears such as a rack-and-pinion gear.

[0265] Although not shown in the drawing, the rotating body (5130) may include a shaft that can be connected to a gear (5153c) provided in the power transmission unit (5153). As a result, power generated from the driving body (5151) can be transmitted to the rotating body (5130) through the power transmission unit (5153).

[0266] Referring to FIGS. 8a, 8b, and 9, as the power generated from the rotary drive unit (5150) is transmitted to the rotary body (5130), the rotary body (5130) can rotate clockwise and / or counterclockwise with respect to the first rotation center axis (AX1), and the main housing (5510) of the second rotary unit (5500) coupled with the rotary body (5130) can rotate together.

[0267] As the main housing (5510) of the second rotation part (5500) rotates, the arm massage part (3000), specifically the arm housing part (3100) coupled to the second rotation part (5500), can rotate left and right (based on FIG. 5b) with respect to the body massage part (1000) with respect to the first rotation center axis (AX1), as shown in FIG. 5b.

[0268] That is, the arm massage part (3000A) that accommodates the right arm can be rotated relative to the body massage part (1000) in the left and right directions based on the 1-1 rotation center axis (AX1a).

[0269] Likewise, the arm massage unit (3000B) that accommodates the user's left arm can rotate relative to the body massage unit (1000) in the left-right direction based on the 1-2 rotation center axis (AX1b) that is arranged parallel to the 1-1 rotation center axis (AX1a).

[0270] Referring to FIGS. 6 to 11, a second rotating part (5500) according to one embodiment of the present invention may include a main housing (5510), a rotating body (5530), and a rotating driving part (5550).

[0271] Referring to FIG. 7, FIG. 8a, and FIG. 8b, the main housing (5510) forms the exterior of the second rotating part (5500) and can be placed on the main housing (5110) provided in the first rotating part (5100).

[0272] Referring to FIGS. 9 to 11, the main housing (5510) can be placed on the main housing (5110) of the first rotating part (5100).

[0273] Referring to FIG. 9 and FIG. 11, a rotation coupling groove (5515) may be formed in the shape of a groove on one surface (bottom surface based on FIG. 9) of the main housing (5510) of the second rotation part (5500) facing the main housing (5110) of the first rotation part (5100).

[0274] Specifically, the above-mentioned one surface of the main housing (5510) may be a surface that is perpendicular to the other surface on which the rotating body (5530) is placed.

[0275] Looking at this from another perspective, the depth direction central axis of the rotational coupling groove (5515) formed on the above surface can be formed identically to the first rotational central axis (AX1), which is the rotational central axis of the rotational body (5130) provided in the first rotational part (5100).

[0276] That is, since the second rotating part (5500) has the same configuration as the first rotating part (5100) so that it can be coupled to the first rotating part (5100) so as to be able to rotate relative to each other, a rotating coupling groove (5515) can be formed in the shape of a groove so that the rotating body (5130) provided in the first rotating part (5100) that generates rotational power based on the first rotational center axis (AX1) can be inserted and coupled to the second rotating part (5500).

[0277] Referring to FIG. 10 and FIG. 11, on one side of the main housing (5510) where the rotation coupling groove (5515) is formed, a rotation guide portion (5513) can be formed in the shape of the groove along the circumferential direction at a preset distance from the center of the rotation coupling groove (5515).

[0278] Referring to Fig. 11, the rotation guide part (5513) can be formed to extend along the circumferential central axis (L1).

[0279] Referring to FIG. 9, although not shown because it is covered by the rotating body (5130) of the first rotating part (5100) inserted into the rotating coupling groove (5515) of the second rotating part (5500), a stopper (5111) may be formed protrudingly on one surface of the main housing (5110) on which the rotating body (5130) of the first rotating part (5100) is rotatably positioned.

[0280] Referring to Fig. 11, when the first rotating part (5100) and the second rotating part (5500) are connected, the stopper (5111) provided in the first rotating part (5100) can be placed inside the rotating guide part (5513) formed in the main housing (5510) of the second rotating part (5500).

[0281] Referring to FIG. 11, when the second rotating part (5500) rotates on the first rotating part (5100), it can rotate clockwise and / or counterclockwise with respect to the first rotation center axis (AX1).

[0282] At this time, the position of the stopper (5111) formed in the first rotation part (5100) is fixed, and the rotation guide part (5513) moves as the second rotation part (5500) rotates relative to it.

[0283] When the stopper (5111) formed protrudingly on the main housing (5110) of the first rotating part (5100) comes into contact with the two ends of the rotation guide part (5513) formed on the second rotating part (5500), the second rotating part (5500) can no longer rotate, thereby having the effect of limiting the amount of rotation (or rotation angle) of the second rotating part (5500) rotating on the first rotating part (5100).

[0284] Referring to FIG. 7 and FIG. 9, a stopper (5511) may be formed to protrude outward on one surface of the main housing (5510) in which the rotating body (5530) of the second rotating part (5500) inserted into the groove formed in the arm massage part (3000), specifically the arm housing part (3100), is disposed.

[0285] Referring to FIGS. 7 to 9, when the second rotating part (5500) and the arm housing part (3100) are connected, the stopper (5511) provided in the second rotating part (5500) can be placed on the inside of the rotation guide part (3105) formed in the arm housing part (3100).

[0286] Referring to FIG. 8a, FIG. 8b, and FIG. 9, when the arm housing part (3100) is rotated on the second rotation part (5500), it rotates clockwise and / or counterclockwise with respect to the second rotation center axis (AX2), and the position of the stopper (5511) formed on the second rotation part (5500) is fixed, and the rotation guide part (3105) moves as the arm housing part (3100) rotates.

[0287] When the stopper (5511) formed protrudingly on the main housing (5510) of the second rotation part (5500) comes into contact with the two ends of the rotation guide part (3105) formed on the arm housing part (3100), the arm housing part (3100) can no longer rotate, so there is an effect that the rotation amount (or rotation angle) of the arm massage part (3000) rotating on the second rotation part (5500) can be limited.

[0288] Referring to FIGS. 7 to 10, a main housing (5510) according to one embodiment of the present invention may include a rotating body (5530) and a rotating drive unit (5550).

[0289] Referring to FIG. 9, a rotating body (5530) according to one embodiment of the present invention is rotatably disposed in a main housing (5510) and can be combined with an arm massage unit (3000), specifically, an arm housing unit (3100).

[0290] The rotating body (5530) penetrates one side of the main housing (5510) and a preset area can be exposed to the outside. The area can be combined with the arm massage unit (3000), specifically, the arm housing unit (3100).

[0291] The rotating body (5530) can receive power from the rotating drive unit (5550) to be described later and transmit the power to the arm housing unit (3100) connected to the second rotating unit (5500).

[0292] Referring to Fig. 9, a rotating body (5530) provided in a second rotating part (5500) according to one embodiment of the present invention can rotate around a second rotation center axis (AX2) as a rotation center axis. The rotating body (5530) can be coupled to an arm housing part (3100).

[0293] As a result, as the rotating body (5530) rotates, the arm housing part (3100) can rotate together, and the arm massage part (3000) can rotate clockwise and / or counterclockwise with respect to the second rotation center axis (AX2) (up and down direction based on FIG. 5a).

[0294] Referring to FIG. 5a, a pair of arm massage parts (3000A, 3000B) according to one embodiment of the present invention can each rotate around a second rotation center axis (AX2a, AX2b) by rotational power generated from a second rotation part (5500).

[0295] A pair of arm massage units (3000A, 3000B) according to one embodiment of the present invention can rotate in the same direction with respect to the second rotation center axis (AX2a, AX2b).

[0296] However, it is not limited thereto, and a pair of arm massage parts (3000A, 3000B) can rotate in opposite directions based on each second rotation center axis (AX2a, AX2b), and in this case, a pair of arm massage parts (3000A, 3000B) can rotate in different directions with respect to the body massage part (1000) to provide a stretching function. Referring to Fig. 9, a rotating body (5530) provided in the second rotating part (5500) can be inserted and coupled into a groove formed in the arm housing part (3100).

[0297] As a result, as the rotating body (5530) provided in the second rotating part (5500) rotates, the arm housing part (3100) provided with the groove part can rotate together.

[0298] Referring to FIGS. 8a, 8b, and 10, a rotary drive unit (5550) according to one embodiment of the present invention is installed in a main housing (5510) and can receive power from the outside and transmit power to a rotary body (5530).

[0299] Referring to FIGS. 8A, 8B, and 10, the rotary drive unit (5550) may include a drive body (5551) and a power transmission unit (5553). The drive body (5551) generates power and may be formed as a motor. The drive body (5551) may receive power from an external source to generate rotational power and transmit the rotational power to the power transmission unit (5553).

[0300] Referring to FIGS. 8a, 8b, and 10, a power transmission unit (5553) according to one embodiment of the present invention may include at least one gear. Specifically, the power transmission unit (5553) includes a plurality of gears (5553a, 5553b, 5553c) and may transmit power generated from a driving body (5551) to a rotating body (5530).

[0301] The gears (5553a, 5553b, 5553c) provided in the power transmission unit (5553) according to one embodiment of the present invention may be formed as a worm gear, a helical gear, or the like.

[0302] Referring to FIGS. 8a and 8b, the first gear (5553a) coupled with the driving body (5551) may be formed as a worm gear, and the second gear (5553b) connected to the first gear (5553a) may be formed as a gear in which a helical gear and a worm gear are integrated.

[0303] Additionally, the third gear (5553c) connected to the second gear (5553b) may be formed as a helical gear with the second rotation center axis (AX2), which is the rotation center axis of the rotating body (5530), as its rotation center axis.

[0304] However, it is not limited to this, and within the technical concept of being able to transmit power generated from the driving body (5551) to the rotating body (5530), the power transmission unit (5553) can be implemented in various modifications, such as adopting a power transmission method of various gears such as a rack-and-pinion gear.

[0305] Although not shown in the drawing, the rotating body (5530) may include a shaft that can be connected to a gear (5553c) provided in the power transmission unit (5553). As a result, power generated from the driving body (5551) can be transmitted to the rotating body (5530) through the power transmission unit (5553).

[0306] Referring to FIGS. 8a, 8b, and 9, as the power generated from the rotary drive unit (5550) is transmitted to the rotary body (5530), the rotary body (5530) can rotate clockwise and / or counterclockwise with respect to the second rotation center axis (AX2), and the arm housing unit (3100) coupled with the rotary body (5530) can rotate together.

[0307] Specifically, the arm housing part (3100) can be rotated in the up-and-down direction (based on FIG. 5a) with respect to the body massage part (1000) based on the second rotation center axis (AX2), as shown in FIG. 5a.

[0308] That is, the arm massage unit (3000A) that accommodates the user's right arm can be rotated relative to the body massage unit (1000) in the up-and-down direction based on the 2-1 rotation center axis (AX2a).

[0309] Likewise, the arm massage unit (3000B) that accommodates the user's left arm can rotate in the left-right direction relative to the body massage unit (1000) based on the 2-2 rotation center axis (AX2b) that is arranged parallel to the 2-1 rotation center axis (AX2a).

[0310] According to one embodiment of the present invention, a massage device has a rotation module (5000) having a plurality of different rotational central axes (AX1, AX2) and generates rotational power, and rotates an arm massage unit (3000) based on each of the plurality of rotational central axes (AX1, AX2), thereby enabling the arm massage unit (3000) to rotate in an up-down direction and / or a left-right direction, thereby providing a user with various arm massage functions.

[0311] In addition, since the first rotation part (5100) and the second rotation part (5500) have the same configuration and are coupled to enable relative rotation, the component configuration for rotating the arm massage part (3000) with respect to the body massage part (1000) can be simplified and modularized.

[0312]

[0313] Hereinafter, with reference to FIGS. 12 to 21, the specific configuration, processing, function, etc. of a massage device (200) according to an embodiment (hereinafter referred to as the “second embodiment”) that provides a stretching mode, etc., focusing on the movement of the arm massage part will be described in detail.

[0314] It goes without saying that the massage device (200) described below can be applied in combination or selectively with one or more of the components included in the aforementioned massage device (100).

[0315] In addition, some of the terms and / or reference symbols referring to the massage device (200) and its sub-components according to the second embodiment described below may be different from the terms and / or reference symbols of the massage device, etc. according to the above-described embodiment.

[0316] This is due to the necessity of tools for effectively explaining the embodiment, etc., and if the corresponding technical idea can be implemented at the level of a person skilled in the art, it should be interpreted that one or more of the configurations of the embodiment described below may be the same as or equivalent to one or more of the configurations described above.

[0317] For example, the first and second arm massage units (250A, 250B) and the first and second leg massage units (203A, 230B) described in the second embodiment below correspond to the configurations corresponding to the arm massage units (3000A, 3000B) and leg massage units (2000A, 2000B) described in the above-described embodiment, respectively, and the control unit (290) of the second embodiment corresponds to the configuration corresponding to the control unit (1200) of the above-described embodiment.

[0318] In addition, in the second embodiment, the arm drive unit (260A, 260B) that drives the rotation, movement, length expansion, etc. of the arm massage unit (250A, 250B) may correspond to the rotation module unit (5000), extension unit, or position adjustment unit of the aforementioned embodiment, and the leg drive unit (240A, 240B) of the second embodiment may correspond to the leg angle actuator or / and leg length adjustment actuator of the aforementioned embodiment, and the body drive unit (220) that changes the angle, posture, position, etc. of the body massage unit (210) may correspond to the aforementioned tilting actuator.

[0319] As previously discussed, the leg massage part can be composed of a pair of leg massage parts (230A, 230B), so the leg length adjustment part can also be composed of a pair of leg length adjustment parts (240AL, 240BL), and the leg rotation part for adjusting the angle, etc. can also be composed of a pair of leg rotation parts (240AR, 240BR).

[0320] The first leg length adjustment unit (240AL) is connected to the first leg massage unit (230A) and can adjust the length of the first leg massage unit (230A). For example, the first leg length adjustment unit (240AL) can be arranged between one end and the other end of the first leg massage unit (230A) and connect the one end and the other end of the first leg massage unit (230A). The first leg length adjustment unit (240AL) provides a length adjustment driving force to the first leg massage unit (230A) to adjust the length between the one end and the other end of the first leg massage unit (230A), thereby adjusting the length of the first leg massage unit (230A).

[0321] The second leg length adjustment unit (240BL) is connected to the second leg massage unit (230B) to adjust the length of the second leg massage unit (230B). For example, the second leg length adjustment unit (240BL) may be arranged between one end and the other end of the second leg massage unit (230B) to connect the one end and the other end of the second leg massage unit (230B). The second leg length adjustment unit (240BL) provides a length adjustment driving force to the second leg massage unit (230B) to adjust the length between the one end and the other end of the second leg massage unit (230B), thereby adjusting the length of the second leg massage unit (230B).

[0322] The first leg rotation part (240AR) is connected to the first leg massage part (230A) and can adjust the angle of the first leg massage part (230A). For example, the first leg rotation part (240AR) can be placed between the rear of the first leg massage part (230A) and the body massage part (210) to connect the first leg massage part (230A) and the body massage part (210). The first leg rotation part (240AR) can adjust the angle of the first leg massage part (230A) by pushing or pulling the first leg massage part (230A) from the rear to rotate (or tilt) the first leg massage part (230A) clockwise and / or counterclockwise.

[0323] As described above, the first leg rotation part (240AR) is positioned between the rear of the first leg massage part (230A) and the body massage part (210) to connect the first leg massage part (230A) and the body massage part (210), but is not limited thereto.

[0324] For example, the first leg rotation part (240AR) can be positioned at various locations (e.g., the side of the first leg massage part (230A), the rotation hinge axis of the first leg massage part (230A), between the first leg massage part (230A) and the main frame (1100), the rear of the first leg massage part (230A), etc.) that can rotate the first leg massage part (230A) clockwise and / or counterclockwise.

[0325] The second leg rotation part (240BR) is connected to the second leg massage part (230B) and can adjust the angle of the second leg massage part (230B). For example, the second leg rotation part (240BR) can be placed between the rear of the second leg massage part (230B) and the body massage part (210) to connect the second leg massage part (2300B) and the body massage part (210). The second leg rotation part (240BR) can adjust the angle of the second leg massage part (230B) by pushing or pulling the second leg massage part (230B) from the rear to rotate (or tilt) the second leg massage part (230B) clockwise and / or counterclockwise.

[0326] As described above, the second leg rotation part (240BR) is positioned between the rear of the second leg massage part (230B) and the body massage part (210) to connect the second leg massage part (230B) and the body massage part (210), but is not limited thereto.

[0327] For example, the second leg rotation part (240BR) can be positioned at various locations (e.g., the side of the second leg massage part (230B), the rotation hinge axis of the second leg massage part (230B), between the second leg massage part (230B) and the main frame (1100), the rear of the second leg massage part (230B), etc.) that can rotate the second leg massage part (230B) clockwise and / or counterclockwise.

[0328] In addition, since the arm massage part (250) can be composed of a pair of arm massage parts (250A, 250B), the arm length adjustment part can also be composed of a pair of arm length adjustment parts (260AL, 260BL), and the arm rotation part for adjusting the angle, etc. can also be composed of a pair of arm rotation parts (260AR, 260BR).

[0329] It is self-evident that terms such as upper, lower, front, rear, vertical, horizontal, etc. used in the following description are only intended to present relative standards for describing embodiments of the present invention, and are not intended to specify any direction or position in absolute terms, and may of course vary relatively depending on the position of the target object, the position or direction of view, etc.

[0330] Hereinafter, embodiments of the present invention will be described with the Z-axis direction (see FIG. 2) as the reference direction for up-down or vertical, and from a corresponding viewpoint, the X-axis direction will be described with the reference direction for front-back, and the Y-axis direction will be described with the reference direction for left or right. For example, a positive Z-axis direction corresponds to an upward, upward, upward, or corresponding direction, and a negative Z-axis direction corresponds to a downward, downward, downward, or corresponding direction.

[0331]

[0332] FIGS. 12 to 16 are block diagrams showing a detailed configuration of a massage device (200) according to one embodiment of the present invention, and FIG. 17 is a flowchart explaining the overall processing process of the present invention.

[0333] As illustrated in FIG. 12, the massage device (200) of the present invention may include one or more of a body massage unit (210), a body driving unit (220), a leg massage unit (230), a leg driving unit (240), an arm massage unit (250), an arm driving unit (260), and a control unit (290).

[0334] Figures 12 to 16 are block diagrams of a massage device (200) for mainly explaining a second embodiment of the present invention. Therefore, it goes without saying that the massage device (200) of the present invention may additionally include other configurations described in the aforementioned embodiments in addition to the configurations illustrated in Figures 12 to 16, depending on the embodiment.

[0335] The components of the massage device (200) illustrated in FIG. 12 may be physically distinct components, but may also be functionally or logically distinct components.

[0336] That is, since each component illustrated in the above drawing corresponds to a component for effectively explaining the technical idea of ​​the present invention, even if each component is configured integrated or separated, if the function performed by the configuration of the present invention can be realized, it should be interpreted as being within the scope of the present invention, and of course, if it is a component that performs the same or similar function, it should be interpreted as being within the scope of the present invention regardless of whether or not the name is consistent.

[0337] In addition, the control method of the massage device according to the present invention can be implemented as a set or algorithm of processing related to data processing, handling, control, calculation, input / output, etc., and thus can be implemented in the form of software that is installed and operated in a device, computer (or a device equivalent thereto), module, or sub-component thereof.

[0338] As illustrated in Fig. 13, the arm massage unit (250) may include first and second arm massage units (250A, 250B), and the leg massage unit (230) may include first and second leg massage units (230A, 230B). For individual control, etc., the arm actuator unit (260) may include a first arm actuator unit (260A) and a second arm actuator unit (260B), and the leg actuator unit (240) may include a first leg actuator unit (240A) and a second leg actuator unit (240B).

[0339] In addition, as illustrated in FIG. 14, the first arm driving unit (260A) that drives the operation of the first arm massage unit (250A) may include a first arm length adjusting unit (260AL) and a first arm rotation unit (260AR), and the first leg driving unit (240A) may include a first leg length adjusting unit (240AL) and a first leg rotation unit (240AR). As illustrated in the drawing, the second arm driving unit (260B) and the second leg driving unit (240B) may also be the same.

[0340] Specifically, the first arm rotation unit (260AR) that drives the rotation of the first arm massage unit (250A) may include, as illustrated in FIG. 15, a first left-right rotation unit (26A) that rotates the first arm massage unit (250A) left-right (horizontal direction, horizontal direction, etc.) and a first up-down rotation unit (27A) that rotates the first arm massage unit (250A) up-down (vertical direction, longitudinal direction, etc.).

[0341] Here, the left-right rotation of the first arm massage part (250A) can correspond to the rotation based on the first rotation center axis (AX1a) as illustrated in FIG. 5b, and the up-down rotation of the first arm massage part (250A) can correspond to the rotation based on the second rotation center axis (AX2a) as illustrated in FIG. 5a.

[0342] The second arm rotation unit (260BR) that drives the rotation of the second arm massage unit (250B) may include a second left-right rotation unit (26B) that rotates the second arm massage unit (250B) left-right (horizontal direction, horizontal direction, etc.) and a second up-down rotation unit (27B) that rotates the second arm massage unit (250B) up-down (vertical direction, vertical direction, etc.).

[0343] Here, the left-right rotation of the second arm massage part (250B) can correspond to the rotation performed based on the first rotation center axis (AX1b) as illustrated in FIG. 5b, and the up-down rotation of the first arm massage part (250A) can correspond to the rotation performed based on the second rotation center axis (AX2b) as illustrated in FIG. 5a.

[0344] The first leg massage unit (230A), which is a component of the massage device (200) according to the present invention, may be placed below the body massage unit (210) that massages at least a portion of the user's body. The second leg massage unit (230B) may also be placed below the body massage unit (210), and may be placed basically parallel to the first leg massage unit (230A) so as to conform to the human body structure.

[0345] The first arm massage unit (250A), which is a component of the massage device (200) according to the present invention, can be placed on the side of the body massage unit (210) and is placed at a position corresponding to the first leg massage unit (230A). The first arm massage unit (250A) can be configured to receive the user's arm (left arm or right arm) and perform various types and methods of massage movements on the received arm.

[0346] The second arm massage part (250B) is positioned on the side of the body massage part (210) so as to conform to the human body structure, specifically on the other side of the body massage part (210) opposite the first arm massage part (250A), and is positioned corresponding to the second leg massage part (230B).

[0347] The first leg driving unit (240A) of the present invention may be configured to perform a function of rotating or moving the first leg massage unit (230A) in two or more directions or expanding and contracting the first leg massage unit (230A) according to a user input signal, an internal algorithm for determining whether a preset condition is satisfied, or the specifications, function, etc. of the first leg massage unit (230A).

[0348] The first leg driving unit (240A) may include a first leg length adjusting unit (240AL) for adjusting the length of the first leg massage unit (230A) as described in the above-described embodiment and as illustrated in FIG. 14, and / or a first leg rotation unit (240AR) for adjusting the angle of the first leg massage unit (230A) by rotating the first leg massage unit (230A).

[0349] In other words, the first leg massage unit (230A) can be rotated in two or more directions through the first leg driving unit (240A) and can be moved in two or more directions. For example, the first leg massage unit (230A) can be rotated (or tilted) in the upward direction (or forward direction, clockwise) and / or downward direction (or backward direction, counterclockwise) of the massage device (200) through the first leg rotation unit (240AR), thereby adjusting the angle of the first leg massage unit (240A). The first leg massage part (230A) can be adjusted in the upper direction (or one end direction) and / or lower direction (or the other end direction) of the first leg massage part (230A) by the first leg length adjustment part (240AL) so that the upper and lower lengths of the first leg massage part (230A) are adjusted, thereby adjusting the length of the first leg massage part (230A).

[0350] The second leg drive unit (240B) may also include a second leg length adjustment unit (240BL) that adjusts the length of the second leg massage unit (230B), as illustrated in FIG. 14, and / or a second leg rotation unit (240BR) that rotates the second leg massage unit (230B) to adjust the angle of the second leg massage unit (230B).

[0351] In other words, the second leg massage unit (230B) can be rotated in two or more directions and moved in two or more directions via the second leg driving unit (240B). For example, the second leg massage unit (230B) can be rotated (or tilted) in the upward direction (or forward direction, clockwise) and / or downward direction (or backward direction, counterclockwise) of the massage device (200) via the second leg rotation unit (240BR), thereby adjusting the angle of the second leg massage unit (230B). The second leg massage part (230B) can be adjusted in the upper direction (or one end direction) and / or lower direction (or the other end direction) of the second leg massage part (230B) by the second leg length adjustment part (240BL) so that the upper and lower lengths of the second leg massage part (230B) are adjusted, thereby adjusting the length of the second leg massage part (230B).

[0352] It goes without saying that the first and second leg drive units (240A, 240B) can be designed to be controlled by the control unit (290) of the present invention.

[0353] The first arm drive unit (260A) of the present invention may be configured to perform a function of rotating or moving (or moving) the first arm massage unit (250A) in the up-and-down direction and / or left-right direction and / or expanding and contracting (extending and contracting) according to an internal algorithm that determines whether a user input signal, a preset condition is satisfied, etc., or the specifications, function, etc. of the first arm massage unit (250A).

[0354] The first arm drive unit (260A) may include a first arm length adjustment unit (260AL) for adjusting the length of the first arm massage unit (250A) as described in the above-described embodiment and as illustrated in FIG. 14, and / or a first arm rotation unit (260AR) for adjusting the angle of the first arm massage unit (250A) by rotating the first arm massage unit (250A).

[0355] In this case, the first arm length adjustment unit (260AL) is positioned between one end (or front end) and the other end (or rear end) of the first arm massage unit (250A) to adjust the length between the one end and the other end of the first arm massage unit (250A), thereby adjusting the length of the first arm massage unit (250A). For example, similar to the first leg length adjustment unit (240AL; or leg length adjustment actuator) described above, the first arm length adjustment unit (260AL) can adjust the length between the one end and the other end of the first arm length adjustment unit (260AL).

[0356] In other words, the first arm massage unit (250A) can be rotated in two or more directions through the first arm driving unit (260A), and can be moved in two or more directions. For example, the first arm massage unit (250A) can be rotated (or tilted) in at least one direction among the upper direction (or rearward direction, clockwise), the lower direction (or forward direction, counterclockwise), the one-sided direction (or leftward direction, inward direction), and the other-sided direction (or rightward direction, outward direction) of the massage device (200) through the first arm rotation unit (260AR), thereby adjusting the angle of the first arm massage unit (250A).

[0357] The first arm massage part (250A) can be adjusted in the forward direction (or forward direction) and / or backward direction (or backward direction) of the first arm massage part (250A) through the first arm length adjustment part (260AL), thereby adjusting the front-back length of the first arm massage part (250A).

[0358] The second arm drive unit (260B) may also include a second arm length adjustment unit (260BL) that adjusts the length of the second arm massage unit (250B), as illustrated in FIG. 13, and / or a second arm rotation unit (260BR) that rotates the second arm massage unit (250B) to adjust the angle of the second arm massage unit (250B).

[0359] In this case, the second arm length adjustment unit (260BL) is positioned between one end (or front end) and the other end (or rear end) of the second arm massage unit (250B) to adjust the length between the one end and the other end of the second arm massage unit (250B), thereby adjusting the length of the second arm massage unit (250B). For example, similar to the second leg length adjustment unit (240BL; or leg length adjustment actuator) described above, the second arm length adjustment unit (260BL) can adjust the length between the one end and the other end of the second arm length adjustment unit (260BL), thereby adjusting the length between the one end and the other end of the second arm massage unit (250B).

[0360] In other words, the second arm massage unit (250B) can be rotated in two or more directions through the second arm driving unit (260B), and can be moved in two or more directions. For example, the second arm massage unit (250B) can be rotated (or tilted) in at least one direction among the upper direction (or rearward direction, clockwise), the lower direction (or forward direction, counterclockwise), the one-sided direction (or leftward direction, inward direction), and the other-sided direction (or rightward direction, outward direction) of the massage device (200) through the second arm rotation unit (260BR), thereby adjusting the angle of the second arm massage unit (250B).

[0361] The second arm massage part (250B) can be adjusted in the forward direction (or forward direction) and / or backward direction (or backward direction) of the second arm massage part (250B) through the second arm length adjustment part (260BL), thereby adjusting the front-back length of the second arm massage part (250B).

[0362] As described above, the length of each arm massage part is adjusted through the arm length adjustment part of each arm massage part, but is not limited thereto. For example, each arm massage part may include an outer housing (or an outer cover) forming the outer shape of each arm massage part and an inner housing disposed inside the outer housing, wherein an arm massage member (e.g., an air cell, a massage roller, etc.) for massaging the arm may be disposed in the inner housing. The arm length adjustment part of each arm massage part may be disposed between the outer and inner housings so that the inner housing may be movable between one end and the other end of each arm massage part with respect to the outer housing. Through this, each arm massage part may be implemented so that the interior of each arm massage part can be relatively movable with respect to the exterior of each arm massage part without the outer shape of each arm massage part being deformed.

[0363] In the following, it is assumed that the length adjustment motion of each arm massage part, that is, the motion of adjusting the length of one end and the other end of each arm massage part, can be replaced with a relative movement motion of the internal housing of each arm massage part. For example, the motion of increasing the length of each arm massage part can be replaced with a motion of moving the internal housing of each arm massage part in a direction toward one end of each arm massage part (for example, in a direction corresponding to an area where the user's palm is placed among the entire area of ​​each arm massage part). The motion of decreasing the length of each arm massage part can be replaced with a motion of moving the internal housing of each arm massage part in a direction toward the other end of each arm massage part (for example, in a direction toward a portion where each arm massage part and the body massage part are connected).

[0364] It goes without saying that the first and second arm drive units (260A, 260B) can also be designed to be controlled by the control unit (270) of the present invention.

[0365] The first and second leg massage units (230A, 230B) and the first and second arm massage units (250A, 250B) of this embodiment can correspond in detailed configuration to the arm massage units (3000A, 3000B) and the leg massage units (2000A, 2000B) described in the above-described embodiment, and therefore, detailed contents regarding the structure, operation, control, etc. thereof are replaced by the description described above. The first and second leg driving units (240A, 240B) and the first and second arm driving units (260A, 260B) of this embodiment are also the same.

[0366] The body driving unit (220) of the present invention can be configured to adjust or change the position, posture, or angle of the body massage unit (210) according to a user input signal, an internal algorithm that determines whether a preset condition is met, or the specifications, functions, etc. of the body massage unit (210).

[0367] According to the embodiment, the body driving unit (220) can change the position, posture, etc. of the body massage unit (210) so that the body massage unit (210) tilts forward so that the ease and safety of the process of the user leaving the massage device (200) can be improved.

[0368] In addition, the body drive unit (220) can change the position, posture, etc. of the body massage unit (210) so that the body massage unit (210) tilts backward (recline mode) to provide a more comfortable posture to the user or to secure sufficient space for movement, rotation, etc. of the leg massage unit (230A, 230B) and to prevent safety accidents, etc. It goes without saying that the body drive unit (220) of the present invention can be designed to be controlled by the control unit (290) of the present invention.

[0369] The control unit (290) of the present invention controls the arm drive unit (260) so that the arm massage unit (250) moves in one or more directions of the left-right direction and the up-down direction so that the user's arm or shoulder area is stimulated.

[0370] The control unit (290) of the present invention can control at least one of the first arm drive unit (260A) and the second arm drive unit (260B) so that such an operation can be performed for the left arm, the right arm, or both arms.

[0371] The present invention includes first and second arm massage parts (250A, 250B) each of which has at least one of length adjustment and angle (rotation) adjustment, so that various types and methods of exercise or stretching, etc. can be provided to the user through various combinational applications of length adjustment and angle (left-right direction or / and up-down direction) adjustment.

[0372] According to an embodiment, the control unit (290) of the present invention can control the arm movement unit (260) to move the arm massage unit (250) to the ready position before the operation mode according to the present invention is initiated or to bring the arm massage unit (250) into the ready position (S100, see FIG. 17).

[0373] The control unit (290) of the present invention can control the massage device (200) to perform a light intensity massage targeting the arms, legs, body, neck, spine, etc. through the massage device (200) in order to relieve tension, relax muscles, expand the range of motion, promote stability, increase joint flexibility, etc. before the start of the operation mode, when an initiation signal of the operation mode is input from a user or the like or a set condition for initiating the operation mode is met, or / and to operate a pre-operation mode (pre-mode) such as operating a heating pad, etc. provided in the massage device (200).

[0374] In addition, the control unit (290) of the present invention can adjust the length of the arm massage unit (250) or the leg massage unit (230) to be optimized for the user, for example, to prevent safety accidents and enhance exercise / stretching effects, depending on the embodiment.

[0375] When the arm massage unit (250) is set to the ready position, the control unit (290) of the present invention controls at least one of left-right rotation and up-down rotation of the arm massage unit (250) to occur (S110).

[0376] According to an embodiment, the control unit (290) of the present invention can control the body drive unit (220) so that the recline operation in which the body massage unit (210) tilts backward is performed before, after, or during the operation of rotating the arm massage unit (250) in one or more directions.

[0377] The control unit (290) of the present invention controls the arm actuator (260) until one cycle rotation of the arm massage unit (250) is completed (S1520) based on a preset or variably adjusted rotation range or a range of motion based on the physical specifications of the arm massage unit (250), and when one cycle rotation of the arm massage unit (250) is completed (S120), the control unit (290) can be controlled to return the arm massage unit (250) to the ready position (S130).

[0378] The control unit (290) of the present invention can control the above-described motion processing to be performed repeatedly until the number of motions of the palm massage unit (250) corresponds to a preset or variably adjustable standard number of motions (S140).

[0379] According to the embodiment, when the operation mode is completed, the control unit (290) of the present invention can control the massage device (200) to perform a finishing mode (post mode), such as providing a light intensity massage through the massage device (200) or lightly moving or rotating the arm massage unit (250A, 250B) and the leg massage unit (230A, 230B) in an up-and-down direction (within a small angle range, etc.).

[0380] For example, in the finishing mode, acupressure stimulation massage based on a massage module focusing on the erector spinae muscles from the cervical spine to the sacrum, air cell massage through sequential or random expansion and / or contraction of shoulder air cells (211), arm air cells (251A, 251B), and leg air cells (231A, 231B), and foot roller massage can be provided.

[0381] In addition, when the operation mode is performed in a recline posture in which the body massage unit (210) is tilted backward, the control unit (290) of the present invention can control the body massage unit (210) to return to or switch to a standby posture or a default posture.

[0382] As illustrated in FIG. 16, the massage device (200) of the present invention may include one or more air cells among a first leg air cell (231A) provided in a first leg massage unit (230A), a second leg air cell (231B) provided in a second leg massage unit (230B), a first arm air cell (251A) provided in a first arm massage unit (250A), a second arm air cell (251B) provided in a second arm massage unit (250B), and a shoulder air cell (211) provided in a shoulder area of ​​the massage device (200).

[0383] The control unit (290) can operate one or more of the air cells described above while performing at least one of the preparatory operation mode, the main operation mode, and the finishing mode to further enhance or concentrate the effects of flexibility enhancement, exercise, stretching, etc., or to prevent safety accidents or injuries.

[0384] For example, the control unit (290) can control one or more of the air cells to expand or contract selectively or in a time series manner based on the rotational motion of the arm massage unit (250A, 250B) and / or the leg massage unit (230A, 230B). A specific embodiment thereof will be described later.

[0385] Inflammation of the joint capsule, such as frozen shoulder, may be accompanied by pain depending on the user or the severity of the condition, and the pain usually increases as the range of motion increases.

[0386] Therefore, in order to improve user convenience as well as reduce injuries, alleviate pain, and enhance exercise / stretching effects, it is preferable that the control unit (290) of the present invention be configured to control the speed at which the arm massage unit (250) rotates in one or more directions depending on the size (angle, etc.) of the rotation of the arm massage unit (250) by the first operation and / or the second operation.

[0387] Specifically, it is preferable that the control unit (290) of the present invention control the rotation speed of the arm massage unit (250) to be reduced as the rotation angle of the arm massage unit (250) increases. According to an embodiment, the rotation angle range of the arm massage unit (250) may be divided into a plurality of sections according to the size of the angle, and the rotation speed of the arm massage unit (250) may be configured to be different for each of the plurality of divided sections.

[0388] The control unit (290) of the present invention can control the rotational motion of the arm massage unit (250) and the expansion of the shoulder air cell (211) to be linked to each other. When the shoulder air cell (211) expands, it presses the user's shoulder area, thereby fixing the relative position of the shoulder area and minimizing the play in the shoulder area, thereby preventing injury to the shoulder joint and further concentrating the exercise / stretching effect.

[0389] The control unit (290) of the present invention can control the shoulder air cell (211) so that the expansion operation of the shoulder air cell (211) is performed before the rotation operation of the arm massage unit (250), during the rotation operation of the arm massage unit (250), or after the rotation operation of the arm massage unit (250) is performed.

[0390]

[0391] Figure 18 is a flowchart explaining a processing process according to one embodiment of the present invention.

[0392] The control unit (290) of the present invention can control the operation of rotating the arm massage unit (250) so as to spread outward from the body massage unit (210) (hereinafter referred to as the 'first operation') and the operation of rotating the arm massage unit (250) upward (hereinafter referred to as the 'second operation') to be linked when the arm massage unit (250) is set to the ready position (S200).

[0393] As illustrated in Fig. 18, the control unit (290) of the present invention controls the arm drive unit (260) (specifically, at least one of the first and second left-right rotation units (26A, 26B)) so that the first operation of rotating the arm massage unit (250) in the direction of spreading outward is performed (S210).

[0394] When the rotation by the first operation is completed (rotation to the set range / operating range, etc.) (S220), the control unit (290) of the present invention controls the arm drive unit (260) so that the second operation in which the arm massage unit (250) rotates upward is performed (S230). Depending on the object of the second operation, the arm drive unit (260) that drives the second operation may be the first up-and-down rotation unit (27A) or / and the second up-and-down rotation unit (27B).

[0395] When the driving by the second operation is completed (rotation to the setting range / operating range, etc.) (S240), the control unit (290) of the present invention can control the arm massage unit (250) to be restored to the ready position or ready posture (S250).

[0396] In order to maximize the effect of exercise / stretching targeting the shoulder joint and muscles surrounding the shoulder joint, the control unit (290) of the present invention can control the upward rotation of the arm massage unit (250) so that the arm massage unit (250) reaches the user's head area.

[0397] In this way, when the first and second movements are linked, the arm massage part (250) is rotated upward while being spread outward, thereby implementing a mode (hereinafter referred to as 'abduction mode') in which the user's arm area rotates in a circular shape centered on the user's shoulder area.

[0398] When this type of external rotation mode is provided, not only can the stiffness of the muscles be alleviated by stimulating the supraspinatus and middle deltoid muscles, but also the range of motion of the shoulder joint can be expanded, which can prevent or alleviate inflammation of the joint capsule surrounding the shoulder joint (frozen shoulder) and increase flexibility in the shoulder area.

[0399] The control unit (290) of the present invention can control the external rotation mode to be performed in an alternating manner by changing or switching the arm massage unit to be the rotation target (S270) when the number of operations for the external rotation mode does not correspond to a predetermined standard number of operations (S260).

[0400] The embodiment illustrated in Fig. 18 is an embodiment in which the first operation is performed prior to the second operation, and corresponds to an embodiment in which the left arm and / or the right arm rotates upward while being spread outward.

[0401] According to an embodiment, the control unit (290) of the present invention can control the first operation and the second operation to be driven together so that the arm rotation is performed in a three-dimensional path, or can control the second operation to be started after an appropriate time after the first operation is performed, or can control the second operation to precede the first operation.

[0402] However, if the second movement is initiated after the first movement is initiated, or the second movement is performed while the first movement is in progress, or the second movement is initiated after the first movement is completed, and the first movement is performed before the second movement, the user's arm is opened horizontally outward first, so the burden on the shoulder joint can be reduced and the arm or shoulder can be stimulated more flexibly.

[0403] The control unit (290) of the present invention can control the first operation targeting at least one of the first and second arm massage units (250B) and the second operation targeting at least one of the first and second arm massage units (250B) to be linked so as to enable various stimulations and exercises / stretchings of the arm and shoulder area through various combinational applications of the first and second operations.

[0404] According to an embodiment, the control unit (290) of the present invention can control the first arm massage unit (250A) and the second arm massage unit (250B) to rotate away from each other and control the first arm massage unit (250A) and the second arm massage unit (250B) to rotate upward.

[0405] In this case, the first and second movements targeting both the first arm massage part (250A) and the second arm massage part (250B) are performed, so muscle stimulation, exercise, stretching, etc. targeting both arms and both shoulders can be performed together.

[0406] In order to prevent accidents, enhance exercise / stretching effects, etc., it is preferable that the time required for the first and second movements performed on the first arm massage part (250A) correspond to the time required for the first and second movements performed on the second arm massage part (250B) so that the rotation and movement of the first and second arm massage parts (250B) can be symmetrical to each other.

[0407] It is preferable that the range (angle, displacement, etc.) in which the first action and / or the second action is performed is configured to be automatically set using DB-ized user information (identification information, etc.), measured user's physical information, etc., or to be variably set by a method such as a user selecting using an interface means (such as the user input unit (1400) described above).

[0408] Since the available range of the body or the location / angle of pain may differ depending on the user's characteristics, symptoms, and injured area, etc., if the rotation range (angle range, etc.) by the first action (second action) is adjusted according to the user's choice, etc., higher user orientation can be achieved.

[0409] Here, user information may be various pieces of information that can be stored in a database, such as one or more pieces of information about the user's age, gender, age, symptoms, or injured area. Furthermore, the user's body information may be information stored in a database in advance, or may be information about the user's body size measured by a measuring device equipped in the massage device (200).

[0410] According to the embodiment, an input button or the like that can select multiple angle ranges through a GUI environment such as a user input unit (1400) is provided, and the rotation angle range can be variably set by the user selecting the provided interface environment, etc., and a method in which multiple selectable angle ranges are guided through an audio output module (1500) and the angle range is selected through voice recognition, etc., can also be applied.

[0411] As described below, the control unit (290) of the present invention can control the first arm length adjustment unit (260AL) and / or the second arm length adjustment unit (260BL) so that when the second operation is performed, an operation of increasing or decreasing the length of the arm massage unit (250) (hereinafter referred to as the 'third operation') is performed.

[0412] It is also preferable that the range or size of the length of the arm massage part (250) increased or decreased by the third movement be configured to be variably set by one or more of the user's body information, symptom information, and user's selection information, as described above.

[0413]

[0414] Figure 19 is a flowchart illustrating a processing process according to one embodiment of the present invention for differentially controlling the operating speed.

[0415] Inflammation of the joint capsule, such as frozen shoulder, can be accompanied by considerable pain depending on the user or the severity of the condition, so it is desirable to avoid stimulating the shoulder area too radically, and in cases where pain is accompanied during movement, it is desirable to configure the device so that interaction with the user can be carried out effectively.

[0416] According to an embodiment, the massage device (200) according to the present invention may further include a detection sensor (270) that detects a force applied by a user (hereinafter referred to as 'external force').

[0417] In this case, when a detection signal in a direction opposite to the direction in which the current operation (displacement, position change, rotation, etc.) is performed is input from the detection sensor (270) during the execution of the first operation or / and the second operation (S300), the control unit (290) of the present invention can control the first operation or / and the second operation to stop or control the speed at which the first operation or / and the second operation is performed to slow down (S320).

[0418] When pain occurs, users may exhibit behavioral characteristics that typically involve rejecting or avoiding the current state, i.e. moving their body in the opposite direction of the current movement.

[0419] The above configuration of the present invention is a configuration that takes into account the general and universal behavioral characteristics of users, and utilizes the detection of an external force in the direction opposite to the current direction of movement as a means of interfacing, thereby enabling subsequent control, such as stopping the current operation, to be performed more quickly and nimbly.

[0420] Since the above-described processing is applied cyclically based on whether rotation is completed as illustrated in FIG. 19 (S330), the control unit (290) of the present invention can control the operation to be stopped or the speed of the operation to be slowed down when a reverse detection signal is input during the first or / and second operation, and can control the operation to be switched back to the normal operation state when the reverse detection signal is not input, i.e., when the input of the reverse detection signal is eliminated.

[0421] The detection sensor (270) may be an analog-based sensor or a digital-based sensor such as an encoder that measures or detects a load applied to a physical means (e.g., a motor, an actuator, a gear, a power transmission means, etc.) that constitutes a driving unit (e.g., a first arm driving unit (260A), a second arm driving unit (260B), etc.) that drives at least one of the first or second operations.

[0422] In addition, various means for signal processing the user's external force can be applied as the detection sensor (270), including a pressure sensor equipped in the arm massage unit (250) that detects external force applied by the user, a sensor that utilizes changes in electrostatic capacity, and a sensor that converts physical displacement into pressure.

[0423]

[0424] Figures 20 and 21 are flowcharts illustrating a processing process according to an embodiment of the present invention in which an operation by an additional function is linked to a rotational operation of an arm massage unit (250).

[0425] As described above, the massage device (200) according to one embodiment of the present invention may include one or more arm air cells provided in the arm massage unit (250). Specifically, the first arm massage unit (250A) may be provided with a first arm air cell (251A), and the second arm massage unit (250B) may be provided with a second arm air cell (251B).

[0426] When the arm air cell (251A, 251B) expands, play, etc. is suppressed, so that the body part (arm part) facing the arm air cell (251A, 251B) can be firmly supported, and when the arm air cell (251A, 251B) contracts, the physical support is released or loosened, so that the degree of freedom of the body part (arm part) can be relatively increased.

[0427] As described above, the first movement is a movement in which the arm massage part (250) rotates in an outward direction based on the body massage part (210), and the second movement corresponds to a movement in which the arm massage part (250) rotates upward.

[0428] If the arm placed on the arm massage unit (250) is not sufficiently fixed to the arm massage unit (250) or is not supported by the arm massage unit (250) with appropriate pressure, when the arm massage unit (250) rotates by the first or second movement, the arm may come off the arm massage unit (250) or movement of the arm corresponding to the rotational path of the arm massage unit (250) may not be induced.

[0429] In particular, when the arm massage part (250) rotates upward, the arm is likely to come off the arm massage part (250) due to its own weight, so the effect of exercise and stretching, etc. may be significantly reduced.

[0430] In order to effectively resolve this problem, the control unit (290) of the present invention can control the arm air cell (251A, 251B) to expand (S420) when at least one of the first operation and the second operation of the arm massage unit (250) is performed (S400) and the rotation angle of the arm massage unit (250) due to the first operation or the second operation is greater than or equal to the reference angle (S410).

[0431] Since the arm massage part (250) of the present invention can be installed on the side of the body massage part (210), the angle of the arm massage part (250) can have a functional relationship with the current angle of the body massage part (210).

[0432] For example, if the range of motion (angle) for upward rotation of the arm massage part (250) is assumed to be 0 to 180 degrees, if the posture of the body massage part (210) is a lying down posture due to the recline mode, the self-weight of the arm acts the greatest at the point where the rotation angle of the arm massage part (250) is approximately 90 degrees, and the possibility of the arm coming off is the highest.

[0433] Meanwhile, if the posture of the body massage part (210) is a standing posture, the possibility of the arm coming off is highest at the point where the rotation angle of the arm massage part (250) is approximately 180 degrees.

[0434] Therefore, in order to effectively prevent the arm from being separated from the arm massage part (250) and to increase the effect of exercise, stretching, etc., it is preferable that the standard angle at which the arm air cell (251A, 251B) provided in the arm massage part (250) expands is differentially set according to the current angle of the body massage part (210).

[0435] In one embodiment of this, the control unit (290) of the present invention can control the arm air cells (251A, 251B) to expand when the rotation angle of the arm massage unit (250) corresponds to 135 degrees (an example of a reference angle) when the current angle of the body massage unit (210) is 90 degrees (an example of a standing posture), and can control the arm air cells (251A, 251B) to expand when the rotation angle of the arm massage unit (250) corresponds to 45 degrees (an example of a reference angle) when the current angle of the body massage unit (210) is 0 degrees (an example of a recline posture).

[0436] It goes without saying that the above-described processing steps (S400 to S420) can be applied cyclically until the rotation by the first or second operation is completed (S430).

[0437] As illustrated in Fig. 21, when at least one of the first arm massage unit (250A) and the second arm massage unit (250B) is controlled to perform at least one of the first and second operations (S500), the control unit (290) of the present invention can control the length of the arm massage unit (250) where the operation is performed among the first and second arm massage units (250A, 250B) to increase or decrease (S510). As defined above, the third operation means an operation in which the length of the arm massage unit (250) increases or decreases.

[0438] In this way, when the arm massage part (250) is rotated upward or outward, if the length of the arm massage part (250) is controlled to increase, the intensity of the exercise or the effect of stretching can be increased, and the shoulder joint area can be opened more extensively, thereby relieving tension in the muscles around the shoulder joint and stimulating the arm or shoulder more gently.

[0439] When the length of the arm massage part (250) is controlled to decrease according to the embodiment, it is possible to provide effects such as reducing pain, preventing injury, and increasing safety for the user.

[0440] In this case, when a detection signal in a direction opposite to the direction in which the second or third operation is performed is input from the detection sensor (270) as described above, the control unit (290) of the present invention can control the second or third operation to stop or control the speed at which the second or third operation is performed to decrease.

[0441] The detection sensor (270) may be an analog-based sensor or a digital-based sensor such as an encoder that measures or detects a load applied to a physical means (e.g., a motor, an actuator, a gear, a power transmission means, etc.) that constitutes a driving unit (e.g., a first arm driving unit (260A), a second arm driving unit (260B), etc.) that drives at least one of the second or third movements.

[0442] In the case where the length of the arm massage unit (250) increases as in the technical configuration of the invention described above, in which the arm air cell (251A, 251B) is controlled to expand so that rotation of the arm area can be effectively induced by rotation of the arm massage unit (250), the control unit (290) of the present invention can control the arm air cell (251A, 251B) to expand when the length of the arm massage unit (250) is greater than the reference length.

[0443] Since the arm length may vary depending on the angle or posture of the body massage unit (210), it is preferable that the control unit (290) of the present invention be configured to differentially apply the reference length depending on the current angle of the body massage unit (210).

[0444] In order to further maximize the stretching effect of the arm and / or shoulder area, the control unit (290) of the present invention can control the length of the leg massage unit (230) positioned at a position crossing the arm massage unit (250) where the length is stretched (extended and contracted) to be stretched (S520). That is, the control unit (290) of the present invention can control the length control operation of the first arm massage unit (250A) and the length control operation of the second leg massage unit (230B) to be linked.

[0445] For example, when the length of the first arm massage part (250A) is controlled to be elastic, the control part (290) of the present invention controls the length of the second leg massage part (230B) positioned at a position crossing the first arm massage part (250A) among the leg massage parts (230) to be elastic, and when the length of the second arm massage part (250B) is controlled to be elastic, the length of the second leg massage part (230A) can be controlled to be elastic.

[0446] Preferably, the control unit (290) of the present invention can control the leg massage unit (230A, 230B) whose length is extended among the first and second leg massage units to rotate downward (S530). With this embodiment of the present invention, additional stretching force can be provided to the extended leg, thereby providing a more powerful and stimulating stretching effect.

[0447] According to an embodiment, the rotation of the arm massage unit (250) and the rotation of the leg massage unit (230) can be linked to enhance the effect of stretching, etc. To this end, the control unit (290) of the present invention can control the rotation of at least one of the first and second arm massage units (250A, 250B) and the rotation of at least one of the first and second leg massage units (230A, 230B) to be linked.

[0448]

[0449] Although the present invention has been described above with reference to limited embodiments and drawings, the present invention is not limited thereto, and it is obvious that various modifications and variations are possible within the scope of the technical idea of ​​the present invention and the equivalent scope of the patent claims to be described below by a person having ordinary skill in the art to which the present invention pertains.

[0450] In the description of the present invention described above, modifiers such as first and second are merely instrumental conceptual terms used to relatively distinguish components from each other, and should be interpreted as not being terms used to indicate a specific order, priority, etc.

[0451] The drawings attached for the purpose of explaining the present invention and illustrating embodiments thereof may be illustrated in a somewhat exaggerated form to emphasize or highlight the technical contents of the present invention. However, it should be interpreted that it is obvious that various modified application examples may be possible at the level of a person skilled in the art in consideration of the contents described above and matters illustrated in the drawings.

[0452] The method for controlling the massage device according to the present invention described above can be implemented as computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices (CD-ROMs, RAMs, ROMs, floppy disks, magnetic disks, hard disks, magneto-optical disks, etc.) that store data that can be read by a computer, and also includes servers for wired and wireless Internet transmission.

[0453] Furthermore, the massage device configuration and functions of this specification can be extended and applied to various (wearable) healthcare devices that can provide healthcare functions (e.g., massage / massage functions, bio-signal measurement functions, etc.). Accordingly, it goes without saying that the "massage device" of this specification can be replaced with the term "(wearable) healthcare device."

[0454] 200: Massage device

[0455] 210: Body massage section 220: Body movement section

[0456] 230: Leg massage section 240: Leg movement section

[0457] 250: Palm Massage Branch 260: Palgu East Branch

[0458] 270: Detection sensor 290: Control unit

[0459] 230A(B): 1st (2nd) leg massage section 240A(B): 1st (2nd) leg drive section

[0460] 250A(B): 1st (2nd) Palm Massage Department 260A(B): 1st (2nd) Palgu East Department

[0461] 240A(B)L: 1st (2nd) leg length adjustment part 240A(B)R: 1st leg rotation part

[0462] 260A(B)L: First arm length adjustment part 260A(B)R: First arm rotation part

[0463] 26A(B): 1st (2nd) left-right rotation part 27A(B): 1st (2nd) up-down rotation part

[0464] 231A(B): 1st (2nd) leg air cell 251A(B): 1st (2nd) arm air cell

[0465] 211: Shoulder Air Cell

Claims

1. A body massage unit that massages at least a part of the user's body; An arm massage unit positioned on the side of the above body massage unit and capable of moving in one or more directions, including left-right and up-down directions; and A massage device characterized by including a control unit that controls the arm massage unit to move in one or more directions to stimulate the user's body.

2. In the first paragraph, the control unit, A massage device characterized in that the first operation in which the arm massage part rotates so as to spread outward from the body massage part and the second operation in which the arm massage part rotates upward are controlled to be linked.

3. In the second paragraph, the control unit, A massage device characterized in that the second operation is performed after the first operation is performed.

4. In the second paragraph, the palm massage part, A first arm massage unit arranged on one side of the above body massage unit; and Including a second arm massage part placed on the other side of the above body massage part, The above control unit, A massage device characterized in that it controls at least one of the first and second arm massage parts to be linked with at least one of the second operations of the first and second arm massage parts.

5. In paragraph 4, the control unit, A massage device characterized in that the first and second arm massage parts are controlled to rotate in a direction away from each other, and the first and second arm massage parts are controlled to rotate upward.

6. In paragraph 2, It further includes a sensor that detects external force applied by the user, The above control unit, A massage device characterized in that when a detection signal in a direction opposite to the direction in which the first or second operation is performed is input from the detection sensor, the first or second operation is controlled to stop or the speed at which the first or second operation is performed is controlled to decrease.

7. In the 6th paragraph, the detection sensor, A massage device characterized by having at least one sensor among a sensor detecting a load applied to a driving unit that drives at least one of the first and second movements and a sensor provided in the arm massage unit that detects an external force applied by a user.

8. In the second paragraph, the angle at which at least one of the first and second operations is performed is A massage device characterized in that it is variably set based on at least one of the user's physical information, disease information, and user's selection information.

9. In paragraph 2, It further includes an arm air cell provided in the above arm massage part, The above control unit, A massage device characterized in that the arm air cell is controlled to expand when the rotation angle of the arm massage part by at least one of the first and second operations is greater than a reference angle.

10. In paragraph 9, the control unit, A massage device characterized in that the reference angle is differentially applied according to the current angle of the body massage part.

11. In the second paragraph, the palm massage part, It is configured to allow for length expansion, The above control unit, A massage device characterized in that the length of the arm massage part is controlled to increase or decrease when at least one of the first and second operations is performed.

12. In paragraph 1, It further includes a body driving part that changes the position or posture of the above body massage part, The above control unit, A massage device characterized in that the body drive unit is controlled so that the recline motion in which the body massage unit is tilted backward is performed before, after, or during the motion of rotating the arm massage unit in one or more directions.

13. In the first paragraph, the control unit, A massage device characterized in that it controls the above-mentioned arm massage part to perform a second operation of rotating upward.

14. In paragraph 13, It further includes a sensor that detects external force applied by the user, The above control unit, A massage device characterized in that when a detection signal in a direction opposite to the direction in which the second movement is performed is input from the detection sensor, the second movement is controlled to stop or the speed at which the second movement is performed is controlled to decrease.

15. In the 13th paragraph, the angle at which the second operation is performed is A massage device characterized in that it is variably set based on at least one of the user's physical information, disease information, and user's selection information.

16. In paragraph 13, Further comprising one or more arm air cells provided in the above arm massage section, The above control unit, A massage device characterized in that the arm air cell is controlled to expand when the rotation angle of the arm massage part by the second operation is greater than or equal to a reference angle.

17. In paragraph 16, the control unit, A massage device characterized in that the reference angle is differentially applied according to the current angle of the body massage part.

18. In the 13th paragraph, the palm massage part, It is configured to allow for length expansion, The above control unit, A massage device characterized in that when the second operation is performed, a third operation is performed in which the length of the arm massage part increases or decreases.

19. In paragraph 18, It further includes a sensor that detects external force applied by the user, The above control unit, A massage device characterized in that when a detection signal in a direction opposite to the direction in which the second or third operation is performed is input from the detection sensor, the second or third operation is controlled to stop or the speed at which the second or third operation is performed is controlled to decrease.

20. In the 14th or 19th paragraph, the detection sensor, A massage device characterized by having at least one sensor among a sensor detecting a load applied to a driving unit that drives at least one of the second and third movements, and a sensor provided in the arm massage unit detecting an external force applied by a user.

21. In paragraph 18, At least one of the angle at which the second movement is performed and the length at which the third movement is performed is A massage device characterized in that it is variably set based on at least one of the user's physical information, disease information, and user's selection information.

22. In paragraph 18, It further includes an arm air cell provided in the above arm massage part, The above control unit, A massage device characterized in that the arm air cell is controlled to expand in at least one of the cases where the rotation angle of the arm massage part by the second operation is greater than or equal to a reference angle and where the length of the arm massage part by the third operation is greater than or equal to a reference length.

23. In paragraph 22, the control unit, A massage device characterized in that at least one of the reference angle and the reference length is differentially applied according to the current angle of the body massage part.

24. In the first paragraph, the control unit, A massage device characterized in that the upward rotation of the arm massage part is controlled so that the arm massage part reaches the user's head area.

25. In the 11th or 18th paragraph, the palm massage part, It includes a first arm massage part arranged on one side of the body massage part, and a second arm massage part arranged on the other side of the body massage part, It includes a first leg massage part arranged at a position corresponding to the first arm massage part, and a second leg massage part arranged at a position corresponding to the second arm massage part, and further includes a leg massage part configured to be able to be extended in length. The above control unit, A massage device characterized in that the length control operation of the first arm massage unit and the length control operation of the second leg massage unit are controlled to be linked.

26. In paragraph 25, the control unit, A massage device characterized in that the leg massage part having an extended length among the first and second leg massage parts is controlled to rotate downward.

27. In the first paragraph, the palm massage part, It includes a first arm massage part arranged on one side of the body massage part, and a second arm massage part arranged on the other side of the body massage part, It further includes a first leg massage unit positioned corresponding to the first arm massage unit, and a second leg massage unit positioned corresponding to the second arm massage unit, and a leg massage unit configured to be rotatable. The above control unit, A massage device characterized in that the rotation of at least one of the first and second arm massage parts and the rotation of at least one of the first and second leg massage parts are controlled to be linked.

28. In the first paragraph, the control unit, A massage device characterized in that the speed of the movement of the arm massage part rotating in one or more directions is controlled to vary depending on the angle at which the arm massage part is rotated.

29. In paragraph 28, the control unit, A massage device characterized in that the speed of the movement of the arm massage part rotating in one or more directions is controlled so that the greater the angle at which the arm massage part rotates, the slower the speed.

30. In paragraph 1, It further includes a shoulder air cell provided at a location corresponding to the shoulder area of ​​the user. The above control unit, A massage device characterized in that the shoulder air cell is controlled so that the expansion motion of the shoulder air cell is performed before, after, or during the rotation motion that rotates the arm massage part in one or more directions.

31. In paragraph 4, A first arm driving unit that drives at least one of rotation and longitudinal extension of the first arm massage unit; and A massage device characterized in that it further includes a second arm driving unit that drives at least one of rotation and length expansion of the second arm massage unit.

32. A method for controlling a massage device according to any one of claims 1 to 31, A control method for a massage device, characterized in that it includes a control step for controlling the movement of the arm massage part in one or more directions, left and right and up and down, to stimulate the user's body.

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