Massage module and method for controlling massage device comprising same

Abstract

The present invention relates to a massage module for massaging the body of a user and a method for controlling a massage device comprising same. The present invention provides a massage module included in a massage device, the massage module comprising: a transfer shaft fixed in the massage module; and a massage unit including a unit body to which a massage element for stimulating the body of a user is coupled, and a transfer mechanism which is provided in the unit body and drives the unit body to move along the transfer shaft.

Description

Massage module and method for controlling a massage device including the same

[0001] The present invention relates to a massage module for massaging a user's body and a method for controlling a massage device including the same.

[0002] Various types of massage devices are used to alleviate physical fatigue and pain. The most commonly used massage devices are chair-shaped, providing a massage to the user seated on the device.

[0003] For example, Patent Publication No. 10-2022-0083139, filed by the present applicant, discloses a massage module and a massage chair including the same, in which the rollers or balls of the massage module automatically change position according to the curvature of the body so as not to cause pain while the massage module reciprocates along the massage device to massage the body.

[0004] In these massage devices, the massage module has massage rollers (or massage balls) arranged symmetrically left and right, but the left and right movement of the massage rollers (or massage balls) is limited, which has the disadvantage of making it difficult to provide a variety of massages to the user.

[0005] The present invention aims to provide a massage module capable of providing a variety of massages to a user by configuring massage rollers arranged in the left and right directions or massage rollers to be individually movable in the horizontal direction, and a method for controlling a massage device including the same.

[0006] The present invention provides a massage module equipped in a massage device, comprising: a massage unit including a transfer shaft fixed within the massage module; a unit body having a massage element for stimulating a user's body coupled thereto; and a transfer mechanism equipped in the unit body and driving the unit body to move along the transfer shaft.

[0007] In one embodiment, a screw thread is formed on the outer surface of the transfer shaft, and the transfer mechanism includes a transfer gear that is rotatably provided on the unit body and screw-connected to the transfer shaft, and a transfer motor that rotates the transfer gear.

[0008] In addition, a worm gear may be provided on the output shaft of the above-mentioned transport motor, and the outer surface of the above-mentioned transport gear may form a worm wheel that meshes with the above-mentioned worm gear.

[0009] In one embodiment, the outer surface of the transfer shaft may have threads formed thereon, and the transfer mechanism may be a transfer motor including a hollow rotor having threads formed thereon on the inner surface for screw-connection to the transfer shaft.

[0010] In one embodiment, the massage unit comprises at least one massage unit mounting shaft disposed through the unit body to guide movement of the massage unit along the transfer axis.

[0011] In one embodiment, the massage unit includes a first massage unit and a second massage unit arranged along the transfer axis, wherein the first massage unit and the second massage unit are individually moved along the transfer axis.

[0012] In one embodiment, the massage module comprises a massage block together with the massage unit, and the massage module further comprises a first movable bracket and a second movable bracket on which the transfer shaft and the massage unit are mounted and are arranged to face each other; and a module frame on which the massage block is mounted and which is coupled to the body massage unit.

[0013] Additionally, the module frame may be provided with a massage block mounting shaft to which the first movable bracket and the second movable bracket are rotatably connected.

[0014] In one embodiment, a bracket movable gear is formed at one end of each of the first movable bracket and the second movable bracket, and a massage block movable shaft having a massage block drive gear that meshes with the bracket movable gear is provided in the module frame, and by rotating the massage block movable shaft by a movable motor, the first movable bracket and the second movable bracket can be rotated with respect to the massage block mounting shaft.

[0015] In one embodiment, the massage unit includes an operating bracket having the massage element at an end and rotatably coupled to a rotational axis of the unit body, and the unit body is provided with a tapping link connected to the operating bracket at a position spaced apart from the rotational axis and allowing the operating bracket to be repeatedly rotated in a forward and reverse direction about the rotational axis according to a reciprocating motion.

[0016] In addition, the tapping link has a tapping shaft coupling part to which a tapping shaft rotated by a tapping motor is rotatably coupled, and the rotation center of the tapping shaft by the tapping motor and the rotation center of the tapping shaft coupling part are arranged eccentrically, so that the reciprocating motion of the tapping link can be performed.

[0017] In addition, an intermediate bracket is provided between the first movable bracket and the second movable bracket, in which the tapping motor is mounted and the tapping shaft is rotationally driven, and the transfer shaft can be arranged to penetrate the intermediate bracket.

[0018] Additionally, both ends of the tapping axis can be accommodated in the tapping axis passage holes formed in the first movable bracket and the second movable bracket, respectively.

[0019] In one embodiment, at least one of the first movable bracket and the second movable bracket may be provided with a distance sensor that measures the distance to the massage unit using a TOF method.

[0020] In addition, the present invention provides a method for controlling a massage device including a massage module, characterized in that the positions of a first massage unit and a second massage unit of the massage unit are individually controlled.

[0021] According to the present invention, the horizontal positions of a pair of massage units constituting a massage module can be individually controlled, thereby providing a variety of massages to a user.

[0022] In addition, according to the present invention, acupressure, tapping, etc. can be provided together using the massage ball (or massage roller) of the massage unit, and there is an effect of being able to adjust the depth and location of the massage in various ways.

[0023] The effects that can be obtained from the present disclosure are not limited to the effects mentioned above, and other effects that are not mentioned will be clearly understood by a person having ordinary skill in the art to which the present disclosure pertains from the description below.

[0024] 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.

[0025] FIG. 1 is a drawing showing a massage device according to one embodiment of the present invention.

[0026] FIG. 2 is a drawing for explaining a main frame according to one embodiment of the present invention.

[0027] FIG. 3 is a drawing for explaining the detailed configuration of a massage device according to one embodiment of the present invention.

[0028] FIG. 4 is a drawing showing an external device capable of communicating with a massage device according to one embodiment of the present invention.

[0029] Figure 5 is a perspective view of a massage module according to one embodiment of the present invention.

[0030] Figure 6 is a front view of a massage module according to one embodiment of the present invention.

[0031] FIG. 7 is a perspective view (different from FIG. 5) of a massage module according to one embodiment of the present invention, showing a state in which the module frame is removed.

[0032] Figure 8 is a perspective view of a movable bracket provided in a massage module according to one embodiment of the present invention.

[0033] FIG. 9 is a drawing showing a plurality of axes coupled to a pair of movable brackets in a massage block provided in a massage module according to one embodiment of the present invention.

[0034] Fig. 10 is a perspective view of a massage block provided in a massage module according to one embodiment of the present invention.

[0035] Fig. 11 is a rear view of a massage block provided in a massage module according to one embodiment of the present invention. Fig. 12 is a perspective view of a massage unit mounted on a massage block provided in a massage module according to one embodiment of the present invention.

[0036] Fig. 13 is a perspective view showing the internal configuration of a massage unit mounted on a massage block provided in a massage module according to one embodiment of the present invention.

[0037] FIG. 14 is a drawing exemplarily showing a tapping motion of a massage unit mounted on a massage block provided in a massage module according to one embodiment of the present invention.

[0038] FIG. 15 is a drawing illustrating an example of measuring the position of a massage unit in a massage module according to one embodiment of the present invention.

[0039] FIG. 16 is a drawing showing another embodiment of a massage unit in a massage module according to one embodiment of the present invention.

[0040] Fig. 17 is a drawing showing a state in which a massage unit of another embodiment is coupled to a transfer shaft.

[0041] The present invention provides a massage module equipped in a massage device, comprising: a massage unit including a transfer shaft fixed within the massage module; a unit body having a massage element for stimulating a user's body coupled thereto; and a transfer mechanism equipped in the unit body and driving the unit body to move along the transfer shaft.

[0042] The advantages and features of the disclosed embodiments, and the methods for achieving them, will become clearer with reference to the embodiments described below, along with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided solely to ensure the completeness of the disclosure and to fully inform those skilled in the art of the present disclosure of the scope of the invention.

[0043] The terms used in this specification will be briefly explained, and the disclosed embodiments will be described in detail.

[0044] The terms used in this specification have been selected from widely used, current terms, taking into account the functions of the present disclosure. However, these terms may vary depending on the intentions of engineers working in the relevant fields, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, terms may be arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant description of the invention. Therefore, the terms used in this disclosure should not be defined simply as names, but rather based on their meanings and the overall content of the present invention.

[0045] In this specification, singular expressions include plural expressions unless the context clearly indicates that they are singular. In addition, plural expressions include singular expressions unless the context clearly indicates that they are plural.

[0046] When a part of a specification is said to "include" a component, this does not mean that it excludes other components, but rather that it may include other components, unless otherwise stated.

[0047] Also, the term "part" used in the specification means a software or hardware component, and the "part" performs certain functions. However, the "part" is not limited to software or hardware. The "part" may be configured to reside on an addressable storage medium and may be configured to execute one or more processors. Thus, by way of example, the "part" includes components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functionality provided within the components and "parts" may be combined into a smaller number of components and "parts" or further separated into additional components and "parts."

[0048] According to one embodiment of the present invention, the "unit" may be implemented as a processor and a memory. The term "processor" should be broadly interpreted to include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, and the like. In some circumstances, a "processor" may also refer to an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field-programmable gate array (FPGA), and the like. The term "processor" may also refer to a combination of processing devices, such as, for example, a combination of a DSP and a microprocessor, a combination of a plurality of microprocessors, a combination of one or more microprocessors in conjunction with a DSP core, or any other such combination of configurations.

[0049] The term "memory" should be interpreted broadly to include any electronic component capable of storing electronic information. The term memory may also refer to various types of processor-readable media, such as random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable PROM (EEPROM), flash memory, magnetic or optical data storage, registers, etc. A memory is said to be in electronic communication with a processor if the processor can read information from and / or write information to the memory. Memory integrated in a processor is in electronic communication with the processor.

[0050] 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.

[0051] In the present specification, according to one embodiment, a massage device may refer to a massage device including a massage unit that massages a part of a user's body. At this time, the massage unit may include at least one massage unit from among a body massage unit, an arm massage unit, and a leg massage unit. In addition, according to another embodiment, the body massage unit, the arm massage unit, and the leg massage unit may exist as separate devices (e.g., a body massage device, an arm massage device, and a leg massage device), and the massage device may refer to at least one massage device from among a body massage device, an arm massage device, and a leg massage device.

[0052] Below, with reference to the attached drawings, a detailed description of the embodiments is provided so that those skilled in the art can easily implement the present disclosure. Furthermore, in order to clearly illustrate the present disclosure, portions irrelevant to the description are omitted from the drawings.

[0053] FIG. 1 is a drawing showing a massage device according to one embodiment of the present invention, and FIG. 2 is a drawing for explaining a main frame according to one embodiment of the present invention.

[0054] A massage device (1000) according to one embodiment of the present invention may form an area for receiving at least a part of a body of a user (1010), and may include a massage unit that supports the body (e.g., torso) of the user (1010) and massages a part of the body of the user (1010).

[0055] The massage unit may include at least one massage unit among a body massage unit (1100) for massaging at least a part of the body of the user (1010), an arm massage unit (1200) for massaging the arm of the user (1010), and a leg massage unit (1300) for massaging the leg of the user (1010).

[0056] The body massage unit (1100) can massage at least a portion of the user's (1010) body. For example, the body massage unit (1100) can massage at least a portion of at least one of the user's (1010) upper body and lower body.

[0057] Specifically, the body massage unit (1100) may include a massage module (100) that provides a massage function to at least a part of the body of a user (1010), a display (1120) for providing an arbitrary image to the user (1010), an audio output module (1500) for providing an arbitrary form of audio output to the user (1010), a main frame (1110) that constitutes the skeleton of the body massage unit (1100) and supports the body of the user (1010), and a user input unit (1110) for receiving an arbitrary form of input from the user (1010).

[0058] The configurations included in the body massage unit (1100) described above are merely exemplary embodiments, and the body massage unit (1100) may include various configurations in addition to the configurations described above.

[0059] In addition, the shape and structure of the massage device (1000) illustrated in FIG. 1 are merely exemplary, and various forms of massage devices (1000) 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.

[0060] The body massage unit (1100) can form a space of any shape for accommodating the user (1010). The body massage unit (1100) can have a space (1100b) having a shape corresponding to the shape of the body of the user (1010). For example, as illustrated in FIG. 1, the body massage unit (1100) can be implemented as a seating type that can accommodate the entire body or a part of the body of the user (1010) and support at least a part of the body of the user (1010). For example, the body massage unit (1100) can include a backrest unit that supports at least a part of the upper body of the user (1010) and a seat unit that supports at least a part of the lower body of the user (1010).

[0061] The part of the body massage unit (1100) 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 (1000).

[0062] At least a portion of the body massage unit (1100) can slide. For example, when the body massage unit (1100) starts a massage (or when the body massage unit (1100) is driven), at least a portion of the body massage unit (1100) can slide forward. In addition, the body massage unit (1100) can tilt backward. As a result, the body massage unit (1100) can provide a massage while tilted backward. For example, the massage device (1000) may include an actuator that tilts the massage device (1000; or the body massage unit (1100)) in the rearward direction of the massage device (1000; or the body massage unit (1100)). The massage device (1000) can drive the above-described actuator to tilt or restore the body massage unit (1100) to its original state. At this time, the actuator may be arranged on at least a portion of the massage device (e.g., the base frame).

[0063] According to one embodiment of the present disclosure, the massage device (1000) may include at least one air cell (not shown). The air cell may be located in at least a portion of the body massage unit (1100) (for example, at least one of an area corresponding to the user's (1010) shoulder, an area corresponding to the pelvis, an area corresponding to the waist, etc. among the entire area of ​​the body massage unit (1100), at least a portion of the arm massage unit (1200), at least a portion of the leg massage unit (1300), etc., but is not limited thereto and may be disposed in various portions of the massage device (1000).

[0064] The massage device (1000) may include an air supply unit, which may inflate the air cell by supplying air to the air cell. The air supply unit may be located inside the body massage unit (1100) or in the leg massage unit (1300). Additionally, the air supply unit may be located outside the massage device (1000).

[0065] The massage module (100) may be provided inside the body massage unit (1100) to provide any type of mechanical stimulation to the user (1010) accommodated in the body massage unit (1100). As illustrated in FIG. 1, the massage module (100) may move along a main frame (1110) provided inside the body massage unit (1100). In other words, the massage module (100) may massage at least a part of the body of the user (1010) (or provide a massage to at least a part of the body of the user (1010)) while moving along the main frame (1110).

[0066] A rack gear (1111a) may be provided on the main frame (1110) of the body massage unit (1100), and the massage module (100) may provide mechanical stimulation to various parts of the body of the user (1010) while moving along the rack gear (1111a). In addition, a guide rail (1111b) may be formed on the main frame (110) to guide the movement of the massage module (100). For example, the massage module (100) may massage at least one of the back, shoulders, waist, hips, and thighs of the user (1010) by tapping or kneading. The massage module (100) may include at least one massage unit from among a ball massage unit and a roller massage unit, but is not limited thereto.

[0067] The main frame (1110) constitutes the skeleton of the internal structure of the body massage unit (1100) and may be made of a metal material or a plastic material. For example, the main frame (1110) may be made of iron, an alloy, steel, etc., but is not limited thereto and may be made of various hard materials.

[0068] 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 at the upper portion of the seat portion that comes into contact with the user (1010), a front audio output unit attached to the front ends of the left and right arm massage units of the seat portion, and / or a rear audio output unit attached to the rear ends of the arm massage units, but is not limited thereto. In this case, the audio output module (1500) may provide a three-dimensional sound such as 5.1 channels, but is not limited thereto.

[0069] The arm massage unit (1200) may be positioned on at least one of one side and the other side of the body massage unit (1100). In one embodiment, the arm massage units (1200) may be provided on each of one side and the other side of the body massage unit (1100), and each arm massage unit (1200) may operate independently of each other based on the control of the control unit that controls the massage device (1000).

[0070] The leg massage unit (1300) may be positioned at the lower portion of the body massage unit (1100) and / or the front lower portion of the massage device (1000). The leg massage unit (1300) may include at least one leg massage unit among a first leg massage unit (1300) positioned on one side of the leg massage unit (1300) to massage one leg of the user (1010), and a second leg massage unit (1300) positioned on the other side of the leg massage unit (1300) to massage the other leg of the user (1010).

[0071] The leg massage unit (1300) includes a receiving space for receiving the user's (1010) legs, and can provide a leg massage to the user (1010) by massaging at least a portion of the user's (1010) legs. For example, the leg massage unit (1300) may include a calf massage unit for massaging the calves of the user (1010) and / or a foot massage unit for massaging the feet of the user (1010).

[0072] The leg massage unit (1300) may be adjustable in length depending on the physical characteristics of the user (1010). For example, if a tall user uses the massage device (1000), the length of the leg massage unit (1300) needs to be increased due to the length of the calf. Furthermore, if a short user uses the massage device (1000), the length of the calf is short, requiring the leg massage unit (1300) to be reduced. Accordingly, the leg massage unit (1300) can provide a leg massage tailored to the height of the user (1010).

[0073] According to one embodiment of the present invention, a user (1010) can control a massage device (1000) using a massage device control device (2000). The massage device control device (2000) can be connected to the massage device (1000) via wired communication and / or wireless communication.

[0074] The massage device control device (2000) may include a personal device such as at least one of a remote controller, a cellular phone, and a PDA (Personal Digital Assistant), and may include, but is not limited to, various electronic devices that can be connected to the massage device (1000) via wired or wireless communication.

[0075] Referring to FIG. 2, a main frame (1110) according to one embodiment of the present invention may include an upper frame (1111) having a massage module (100) and a base frame (1112) supporting the upper frame (1111).

[0076] At least a portion of the upper frame (1111) may be equipped with a rack gear (1111a). The rack gear (1111a) serves as a member for guiding the vertical movement of the massage module (100) and may include a plurality of ribs and a plurality of ridges.

[0077] According to one embodiment of the present invention, the rack gear (1111a) may be provided in a form facing each other on both sides of the upper frame (1111), and the massage module (100) may move along the rack gear (1111a).

[0078] In Fig. 2, the rack gear (1111a) is formed in a vertical direction, but is not limited thereto. The rack gear (1111a) may include a rack gear in a forward-rearward direction and a rack gear in a vertical direction. In the present disclosure, the forward-rearward direction refers to a direction from the massage module (100) toward the user or from the user toward the massage module (100), and may also be referred to as the Z-axis direction.

[0079] The massage module (100) may include gears that mesh with the rack gear (1111a). More specifically, the massage module (100) may include gears that mesh with the rack gear in the forward-rearward direction and the rack gear in the up-down direction, respectively. By rotating the gears by the actuator provided in the massage module (100), the massage module (100) can move forward, backward, upward, or downward.

[0080] As the massage module (100) moves forward, the intensity of the massage may increase. Also, as the massage module (100) moves backward, the intensity of the massage may decrease.

[0081] The rack gear (1111a) may be made of metal or plastic. For example, the rack gear (1111a) may be made of iron, steel, alloy, reinforced plastic, melamine resin, phenol resin, etc., but is not limited thereto.

[0082] The upper frame (1111) can be implemented in various shapes. For example, the upper frame (1111) can be classified into an S frame, an L frame, an S&L frame, and a double S&L frame depending on the shape, but is not limited thereto.

[0083] An S frame means a frame in which at least a portion of the upper frame (1111) includes a curved shape like an "S". An L frame means a frame in which at least a portion of the upper frame (1111) includes a curved shape like an "L". An S&L frame means a frame in which both a curved shape like an "S" and a curved shape like an "L" are included. A double S&L frame means a frame in which a curved shape like an "L" and two portions of the curved shape like an "S" are included.

[0084] The base frame (1112) refers to the part of the main frame (1110) that supports the upper frame (1111) and is in contact with the ground. The base frame (1112) may include a base upper frame (1112a) and a base lower frame (1112b).

[0085] The base upper frame (1112a) can support the upper frame (1111), and the base lower frame (1112b) can be in contact with the ground. In addition, the base upper frame (1112a) can be positioned in contact with the base lower frame (212).

[0086] According to one embodiment of the present invention, the base upper frame (1112a) can move along the base lower frame (1112b). For example, the base upper frame (1112a) can slide forward or backward along the base lower frame (1112b). In this case, the upper frame (1111) is connected to the base upper frame (1112a) and can move according to the movement of the base upper frame (1112a).

[0087] For example, when the base upper frame (1112a) moves forward, the upper frame (1111) can also move forward together, and when the base upper frame (1112a) moves backward, the upper frame (1111) can also move backward together. As a result, sliding movement of the body massage unit (2100) can be permitted.

[0088] Specifically, in order to allow movement of the base upper frame (1112a), a movable wheel may be provided at the lower portion of the base upper frame (1112a). In addition, a guide member capable of guiding the movable wheel may be provided at the upper portion of the base lower frame (1112b). The movable wheel provided at the base upper frame (1112a) moves along the guide member provided at the base lower frame (1112b), thereby allowing forward or backward movement of the base upper frame (1112a).

[0089] According to another embodiment of the present invention, the massage device (1000) may not provide a sliding function, in which case the base frame (1112) may not be separated into upper and lower frames.

[0090] FIG. 3 is a drawing for explaining the detailed configuration of a massage device according to one embodiment of the present invention.

[0091] According to one embodiment of the present invention, the massage device (1000) may include at least one of a control unit (1400), a sensor unit (1410), a communication unit (1420), a memory (1430), an audio output unit (1440), and an interface unit (1450). The control unit (1400) may include at least one processor and a memory. At least one processor may execute instructions stored in the memory.

[0092] The control unit (1400) can control the massage device (1000). For example, the control unit (1400) can control various detailed configurations of the massage device (1000), such as at least one of the body massage unit (1100), the arm massage unit (1200), the leg massage unit (1300), the sensor unit (1410), the communication unit (1420), the memory (1430), the audio output unit (1440), the interface unit (1450), and the output unit.

[0093] The control unit (1400) may include one processor or multiple processors. If the control unit (1400) includes multiple processors, at least some of the processors may be physically separated from each other. Furthermore, the massage device (1000) is not limited thereto and may be implemented in various ways.

[0094] According to one embodiment of the present invention, the control unit (1400) can control the operation of the massage device (1000). For example, the massage device (1000) can include a plurality of actuators, and the control unit (1400) can control the operation of the massage device (1000) by controlling the operation of the plurality of actuators.

[0095] For example, the massage device (1000) may include at least one of a driving unit for moving an armrest frame support, at least one actuator included in a massage module (100), a back angle actuator, a leg angle actuator, a foot massage actuator, a leg length adjustment actuator, and a sliding actuator.

[0096] The back angle actuator is an actuator that adjusts the angle of the part of the massage device (1000) that the user's back comes into contact with, and the back angle of the massage device (100) massage device (1000) can be adjusted by the operation of the back angle actuator. The leg angle actuator is an actuator that adjusts the angle of the leg massage part (2300) of the massage device (100) massage device (1000), and the angle between the leg massage part (2300) and the body massage part (2100) can be adjusted by the operation of the leg angle actuator. The foot massage actuator represents an actuator that operates a foot massage module included in the leg massage part (2300). For example, the control unit (1400) can provide a foot massage to the user by utilizing the foot massage actuator. The leg length adjustment actuator refers to an actuator that adjusts the length of the leg massage unit (1300). For example, the control unit (1400) can utilize the leg length adjustment actuator to adjust the length of the leg massage unit (1300) to suit the user, thereby providing the user with a massage tailored to their body type.

[0097] At least one actuator included in the massage module (100) may be a variety of actuators such as a movement actuator, a forward / reverse actuator, and a massage actuator.

[0098] The movement actuator is an actuator that enables the massage module (100) to move up and down, and can move the massage module (100) in at least one direction among the upward and downward directions of the massage device (1000) along the main frame (110). The massage module (100) can move along the rack gear by the operation of the massage module (100) movement actuator. The advance / retreat actuator can advance / retreat (or tilt) the massage module (100) in at least one direction among the forward and backward directions of the massage module (100). In other words, the massage module (100) can be tilted in at least one direction among the forward and backward directions of the massage module (100) through the advance / retreat actuator. The massage actuator can move the massage module (100) in various ways to provide the user with various massage actions.

[0099] The control unit (1400) can control the operation of the massage device (1000) by controlling the detailed configuration of the massage device (1000).

[0100] The control unit (1400) can provide various massage movements by operating at least one actuator included in the massage device (1000). For example, the control unit (1400) can provide tapping massage, kneading massage, etc. by operating at least one actuator included in the massage module (100), but is not limited thereto and can provide various massage movements.

[0101] The memory (1430) may be included in the control unit (1400) or may be located outside the control unit (1400). The memory (1430) may store various information related to the massage device (1000). For example, the memory (1430) may include massage control information and information about the user, but is not limited thereto. The information about the user may be various information related to the user, such as personal authentication information and the user's biometric information (e.g., age, height, weight, blood pressure, body composition, heart rate, electrocardiogram, etc.).

[0102] The memory (1430) may be implemented using a non-volatile storage medium capable of persistently storing arbitrary data. For example, the memory (1430) may include, but is not limited to, storage devices based on disks, optical disks, and magneto-optical storage devices, as well as flash memory and / or battery-backed memory.

[0103] Memory (1430) may refer to a volatile storage device in which stored information is instantly erased when power is turned off, such as a random access memory (RAM) such as a dynamic random access memory (DRAM) or a static random access memory (SRAM), which is the main storage device directly accessed by the processor, but is not limited thereto. This memory (1430) may be operated by the control unit (1400).

[0104] The massage device (1000) may include a sensor unit (1410). The sensor unit (1410) may acquire various information using at least one sensor. The sensor unit (1410) may be equipped with a sensor that utilizes a measuring means such as pressure, electric potential, and optical. For example, the sensor may include a pressure sensor, an infrared sensor, an LED sensor, a touch sensor, an electrode sensor, an air pressure measuring sensor, and the like, but is not limited thereto.

[0105] Additionally, the sensor unit (1410) may include a biometric information acquisition sensor. The biometric information acquisition sensor may acquire at least one of fingerprint information, facial information, voice information, iris information, weight information, blood pressure information, heart rate (or heartbeat) information, electrocardiogram information, and body composition information, but is not limited thereto and may include various types of biometric information. For example, the massage device (1000) may provide a customized massage based on information acquired through the sensors.

[0106] The massage device (1000) can detect the contact area and / or contact location with the user through sensors. In addition, the massage device (100) can provide a customized massage based on the information acquired through the sensors.

[0107] The communication unit (1420) can receive a signal transmitted from an external device or transmit a signal to the massage device (1000) to an external device.

[0108] For example, the control unit (1400) can process a signal received through the communication unit (1420) to obtain a result signal and transmit the result signal to the communication unit (1420). The communication unit (1420) can transmit (or output) the result signal to an external device.

[0109] The control unit (1400) can obtain information about various components included in the massage device (1000) (e.g., information about the massage module (100), information about the arm massage unit (1200), etc.) and transmit the information to the communication unit (1420). The communication unit (1420) can transmit information about the massage device (1000) to an external device.

[0110] The communication unit (1420) can communicate with a module inside the massage device (1000), an external massage device, and / or a user terminal through any type of network. The communication unit can include a wired / wireless connection module for network connection. Wireless connection technologies, for example, WLAN (Wireless LAN) (Wi-Fi), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed ​​Downlink PacketAccess), etc. can be used. Wired connection technologies, for example, XDSL (Digital Subscriber Line), FTTH (Fibers to the home), PLC (Power Line Communication), etc. can be used. In addition, the network connection unit can include a short-range communication module, and can transmit and receive data with any device / terminal located in a short distance. For example, short range communication technologies that can be used include, but are not limited to, Bluetooth, RFID (Radio Frequency Identification), IrDA (Infrared Data Association), UWB (Ultra-Wideband), and ZigBee.

[0111] The massage device (1000) may further include an interface portion (1450).

[0112] The interface unit (1450) may be placed on at least a portion of the massage device (1000). For example, the interface unit (1450) may be placed on the exterior of the arm massage unit (1200).

[0113] The interface unit (1450) may include an input unit and / or an output unit. The input unit may receive a user input input from a user and transmit it to the control unit (1400). The output unit may display information about the massage device (1000). For example, the output unit may output various information, such as a processing result of the control unit (1400), operation information of at least one massage unit among the body massage unit (1100), the arm massage unit (1200), and the leg massage unit (1300), and information about an executed massage mode.

[0114] Specifically, the input unit can receive commands related to the control of the operation of the massage device (1000) from the user, and the input unit can be implemented in various forms. For example, the input unit can be provided in the body massage unit (1100) and the leg massage unit (1300), but is not limited thereto. In addition, the input unit can include the user input unit (not shown) of FIG. 1, the massage device control device (2000), or various external devices described in FIG. 4.

[0115] The massage device (1000) can obtain various commands from the user through the input unit. For example, the massage device (1000) can receive arbitrary commands for selection of a massage module, selection of a massage type, 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 (1100), selection of turning the power of the massage device (1000) 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.

[0116] The massage device (1000) may provide an interface for selecting a massage mode via the interface unit (1450). For example, the input unit and / or output unit may include a massage device control device (2000). A list of various modes of medical massage related to body improvement may be displayed via the massage device control device (2000).

[0117] The medical massage mode may include at least one of a concentration mode, a meditation mode, a recovery mode, a stretching mode, a sleep mode, an energy mode, a golf mode, a hip-up mode, a test taker mode, a zero-gravity mode, and a growth mode.

[0118] According to another embodiment of the present invention, the interface unit (1450) may be provided with hot key type buttons and / or selection buttons for executing direction selection, cancellation, input, etc. according to preset user-defined functions or self-preset functions.

[0119] The interface unit (1450) may be implemented as a touch screen, key pad, dome switch, touch pad (static / capacitive), jog wheel, jog switch, etc., but is not limited thereto. In addition, the interface unit (1450) may obtain commands through the user's speech based on voice recognition technology.

[0120] Referring to FIG. 1, the output unit may include a display (1120) for displaying the operating status of the massage device (1000) or the current status of the user. In this case, the display (1120) may include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, and a 3D display, but is not limited thereto.

[0121] The output unit may include an audio output unit (1440). The audio output unit (1440) of FIG. 3 may include the audio output module (1500) of FIG. 1. For example, the audio output module (1500) may be positioned at various locations of the massage device (1000) as described above. The audio output module (1500) may be positioned in an area corresponding to the user's head among the entire area of ​​the body massage unit (1100) of the massage device (1000) as illustrated in FIG. 1. In this case, the area corresponding to the user's head may be an area corresponding to at least one of the upper sides among the entire area of ​​the body massage unit (1100).

[0122] The audio output unit (1440) can provide any form of audio output to the user. For example, the audio output unit (1440) can provide brain stimulation to the user by outputting sound sources and / or binaural beats optimized for the massage pattern provided by the massage device (1000). The audio output unit (1440) can output sound signals received through a network (not shown) or stored in an internal / external storage medium (not shown). For example, the audio output unit (1440) can output sound sources 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 unit (1440) can output any form of sound signals generated in relation to the operation of the massage device (1000).

[0123] Those skilled in the art will readily appreciate that the present invention may be implemented in combination with other program modules and / or as a combination of hardware and software. For example, the present invention may be implemented using a computer-readable medium.

[0124] Any computer-accessible medium can be a computer-readable medium, including both volatile and non-volatile media, transitory and non-transitory media, removable and non-removable media. By way of example, and not limitation, computer-readable media can include computer-readable storage media and computer-readable transmission media.

[0125] Computer-readable storage media includes volatile and nonvolatile media, transitory and non-transitory media, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer-readable storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital video disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be accessed by a computer and used to store the desired information.

[0126] FIG. 4 is a drawing showing an external device that can communicate with a massage device (1000) according to one embodiment of the present invention.

[0127] The massage device (1000) can transmit and receive various data by communicating with an external device (3000) via a wired or wireless communication unit (1420).

[0128] The external device (3000) may include a portable electronic device (3100) such as an AI speaker, tablet, or smartphone. The portable electronic device (3100) may be a dedicated massage device (1000) or a general-purpose portable electronic device. In addition, the external device (3000) may include a wearable device (3200) such as a smartwatch or a smartband. The external device (3000) may include a massage device (3300) other than the massage device (1000) currently being used by the user. The external device (3000) may include a hospital server (3400). The external device (3000) may include a personal health record (PHR) server. In addition, the external device (3000) may include a cloud server (3500). The external device (3000) may include a medical measuring device such as an electronic scale, a blood glucose meter, or a blood pressure meter.

[0129] Although the present invention has described some examples of external devices (3000), any device that can communicate with the massage device (1000) wired or wirelessly and exchange information with each other may be considered an external device.

[0130] Fig. 5 is a perspective view of a massage module according to one embodiment of the present invention, and Fig. 6 is a front view of a massage module according to one embodiment of the present invention. In addition, Fig. 7 is a perspective view (in a different direction than Fig. 5) of a massage module according to one embodiment of the present invention, showing a state in which the module frame is removed.

[0131] A massage module (100) according to one embodiment of the present invention includes a massage block (10) including a massage unit (20) and a movable bracket (40), and a module frame (200) on which the massage block (10) is mounted and which is movably coupled to an upper frame (1111) of a body massage unit (1100).

[0132] The massage unit (20) may include a first massage unit (20A) and a second massage unit (20B), and the movable bracket (40) may include a first movable bracket (40A) and a second movable bracket (40B). The first massage unit (20A) and the second massage unit (20B) may be mounted so as to be movable in the left-right direction (X-axis direction in FIG. 5) between the first movable bracket (40A) and the second movable bracket (40B) facing each other. The massage block (10) including the massage unit (20) and the movable bracket (40) may be mounted on a module frame (200) to provide a massage function to a user.

[0133] The detailed configuration of the massage block (10) will be described again below, and the module frame (200) will be described first.

[0134] In one embodiment, the module frame (200) may include a first module frame (210A) and a second module frame (210B) that are arranged to face each other in the left-right direction, and at least one connecting frame (212) that is arranged along the horizontal direction (X-axis direction) to connect the first module frame (210A) and the second module frame (210B). However, in the present invention, the module frame (200) is not limited to the combined configuration of the first module frame (210A), the second module frame (210B), and the connecting frame (212), and may be implemented in various forms as long as it has a configuration that can be mounted on the massage block (10) and the body massage unit (1100).

[0135] A plurality of wheels (240a, 240b, 240c, 240d) are coupled to the module frame (200), and the plurality of wheels (240a, 240b, 240c, 240d) can move along a guide rail (1111b) formed on the upper frame (1111) of the body massage unit (1100).

[0136] In one embodiment, a module drive shaft (230) is provided in the X-axis direction in the first module frame (210A) and the second module frame (210B), and a module drive motor (220) for rotating the module drive shaft (230) is provided in the module frame (200). Module drive gears (232a, 232b) are provided on both sides of the module drive shaft (230), and the module drive gears (232a, 232b) are engaged with a rack gear (1111b) formed in the upper frame (1111). The driving force of the module driving motor (220) is transmitted to the module driving gears (232a, 232b) through the module driving gear box (222) and the module driving shaft (230), so that the massage module (100) can move along the rack gear (1111b) in the upper frame (1111) of the body massage unit (1100) (for example, in the Y-axis direction). The module driving gear box (222) may include at least one gear for transmitting the driving force of the module driving motor (220) to the module driving shaft (230).

[0137] In one embodiment, as illustrated in FIG. 5, the first and second wheels (240a, 240b) may be provided at both ends of the module drive shaft (230). In the implementation of the present invention, the first and second wheels (240a, 240b) may not be coupled to the module drive shaft (230) but may be directly coupled to the first module frame (210A) and the second module frame (210B).

[0138] In one embodiment, the module frame (200) may be provided with a massage block movable shaft (260). The massage block movable shaft (260) may be coupled between the first module frame (210A) and the second module frame (210B) along the X-axis direction. In one embodiment, a movable motor (250) for rotating the massage block movable shaft (260) is provided in the connecting frame (212) of the module frame (200), and the driving force of the movable motor (250) is transmitted to the massage block movable shaft (260) through a movable gear box (252). The massage block movable shaft (260) may be supported by the movable gear box (252). The movable gear box (252) may include at least one gear for transmitting the driving force of the movable motor (250) to the movable shaft (260).

[0139] The massage block movable shaft (260) is provided with a massage block driving gear (262a, 262b). Meanwhile, as illustrated in FIG. 5, the third and fourth wheels (240c, 240d) may be freely rotatable on both ends of the massage block movable shaft (260).

[0140] The massage block (10) is mounted on the module frame (200) via a massage block mounting shaft (12) coupled to the first module frame (210A) and the second module frame (210B) in the X-axis direction. In one embodiment, the first movable bracket (40A) and the second movable frame (40B) included in the movable frame (40) are coupled to the massage block mounting shaft (12). Meanwhile, the upper ends of the first movable bracket (40A) and the second movable bracket (40B) are engaged with the first massage block driving gear (262a) and the second massage block driving gear (262b), respectively, and the protrusion position of the massage block (10) toward the user side (Z-axis direction of FIG. 5) can be adjusted according to the rotation of the massage block movable shaft (260).

[0141] That is, each of the first movable bracket (40A) and the second movable bracket (40B) is rotatably inserted into the massage block mounting shaft (12), and the upper ends of each of the first movable bracket (40A) and the second movable bracket (40B) are engaged with the first massage block driving gear (262a) and the second massage block driving gear (262b). By this configuration, the massage block (10) can be mounted in the module frame (200). In addition, by the rotational drive of the massage block movable shaft (260), the first movable bracket (40A) and the second movable bracket (40B) are rotated around the massage block mounting shaft (12), so that the position of the massage unit (20) in the Z-axis direction can be adjusted.

[0142] Referring to FIG. 7, either the first movable bracket (40A) or the second movable bracket (40B), for example, the first movable bracket (40A), may be provided with a movable sensing bar (41) for sensing a rotation angle of the movable bracket (40) according to the rotation of the massage block movable shaft (260), and the module frame (200) may be provided with a movable sensing unit (270) for sensing the movable sensing bar (41). The movable sensing bar (41) may be provided in an arc shape and may include a concave portion (41a) and protrusions (41b, 41c) at both ends of the concave portion (41a). The movable sensing unit (270) may sense the rotational state of the movable brackets (40A, 40B) by recognizing the concave portion (41a) or the protrusions (41b, 41c) of the movable sensing bar (41). For example, the movable sensing unit (270) is composed of a light sensor including a light emitting unit and a light receiving unit, and when the movable sensing unit (270) recognizes the protrusions (41b, 41c), it can be determined that the movable bracket (40) has reached the maximum driving range.

[0143] FIG. 8 is a perspective view of a movable bracket provided in a massage module according to one embodiment of the present invention, and FIG. 9 is a drawing showing a plurality of axes coupled to a pair of movable brackets in a massage block provided in a massage module according to one embodiment of the present invention. In addition, FIG. 10 is a perspective view of a massage block provided in a massage module according to one embodiment of the present invention, and FIG. 11 is a rear view of a massage block provided in a massage module according to one embodiment of the present invention.

[0144] The massage block (10) will be described with reference to FIGS. 8 to 11.

[0145] First, referring to Fig. 8, a movable bracket (40) is illustrated. A second movable bracket (40B) is illustrated, wherein the first movable bracket (40A) has the same configuration as the second movable bracket (40B), and the first movable bracket (40A) and the second movable bracket (40B) may have a left-right symmetrical shape. The configuration of the movable bracket (40) will be described with reference to the second movable bracket (40B) of Fig. 8.

[0146] The movable bracket (40) includes a plate-shaped bracket body (42). A bracket movable gear (43) is formed at the upper end of the bracket body (42), and a mounting hole (44) through which a massage block mounting shaft (12) passes is formed at a predetermined position of the bracket body (42). The bracket movable gear (43) meshes with the aforementioned massage block driving gears (262a, 262b), and the movable bracket (40) can be rotated about the axis of the massage block mounting shaft (12) by the rotation of the massage block driving gears (262a, 262b). The bracket body (42) may be formed with a transfer shaft coupling portion (45) to which a transfer shaft (50) is fixed, at least one mounting shaft coupling portion (46, 47) to which at least one massage unit mounting shaft (52, 54) for fixing the position of the massage unit (20) is fixed, and a tapping shaft passage hole (48) through which an end of a tapping shaft (58) for tapping operation of the massage unit passes.

[0147] Referring to FIG. 9, a transfer shaft (50), a first massage unit mounting shaft (52), a second massage unit mounting shaft (54), and a tapping shaft (58) are coupled between a first movable bracket (40A) and a second movable bracket (40B). The transfer shaft (50) has screw threads formed on its outer surface. In one embodiment, both ends of each of the transfer shaft (50), the first massage unit mounting shaft (52), and the second massage unit mounting shaft (54) can be fixed to the first movable bracket (40A) and the second movable bracket (40B).

[0148] The end of the tapping shaft (58) is rotatably coupled to the tapping shaft passage hole (48) of each of the first movable bracket (40A) and the second movable bracket (40B). A bearing may be provided in the tapping shaft passage hole (48) to rotatably support the tapping shaft (58). In addition, a driven pulley (66) that receives a driving force for rotating the tapping shaft (58) may be coupled to the tapping shaft (58).

[0149] Meanwhile, in Fig. 9, a gear (252a) included in a movable gear box (252) on a massage block movable shaft (260) and driving the massage block movable shaft (260) is shown for reference.

[0150] Referring to FIGS. 10 and 11, the first massage unit (20A) and the second massage unit (20B) are screw-coupled to the transfer shaft (50) and slidably mounted on the first massage unit mounting shaft (52) and the second massage unit mounting shaft (54). In addition, a guide bar (56) for guiding horizontal movement of the first massage unit (20A) and the second massage unit (20B) along the X-axis direction may be further provided between the first movable bracket (40A) and the second movable bracket (40B).

[0151] The tapping shaft (58) is provided for the tapping action by the massage element (reference numerals 25a and 25b of FIG. 12) of the massage unit (20). In one embodiment, an intermediate bracket (60) may be further provided between the first movable bracket (40A) and the second movable bracket (40B). A tapping motor (62) for rotating the tapping shaft (58) is provided in the intermediate bracket (60), and the driving force of the tapping motor (62) can be transmitted to the tapping shaft (58) through a drive belt (64). The drive belt (64) connected to the drive shaft of the tapping motor (62) is connected to a driven pulley (66) provided in the tapping shaft (58) to rotate the tapping shaft (58). The rotational drive of the tapping shaft (58) can also be configured to transmit the driving force of the tapping motor (62) to the tapping shaft (58) through a gear connection, rather than a belt drive method using a drive belt (64).

[0152] The tapping operation by the tapping axis (58) will be described later together with the configuration of the massage unit (2).

[0153] Fig. 12 is a perspective view of a massage unit mounted on a massage block provided in a massage module according to one embodiment of the present invention, and Fig. 13 is a perspective view showing the internal configuration of a massage unit mounted on a massage block provided in a massage module according to one embodiment of the present invention. In addition, Fig. 14 is a drawing exemplarily showing a tapping motion of a massage unit mounted on a massage block provided in a massage module according to one embodiment of the present invention.

[0154] Referring to FIGS. 12 to 14, the configuration and operation of the massage unit (20) provided in the massage module (100) will be described. The massage unit (20) may include a first massage unit (20A) and a second massage unit (20B). In FIGS. 12 and 13, the first massage unit (20A) is illustrated, but the second massage unit (20B) may be configured identically to the first massage unit (20A) or configured symmetrically to the first massage unit (20A).

[0155] The massage unit (20) includes a unit body (22) and an operating bracket (24) rotatably connected to the unit body (22) about a rotation axis (23) of the unit body (22). The operating bracket (24) may be configured in an approximately L-shape or boomerang shape, including a first wing portion (24a) and a second wing portion (24b). A first massage element (25a) and a second massage element (25b) in the form of a massage ball or massage roller that stimulates the user's body may be provided at the ends of the first wing portion (24a) and the second wing portion (24b).

[0156] The massage module (100) according to the present invention moves along the upper frame (1111) of the body massage unit (1100), so that the massage elements (25a, 25b) can stimulate and massage the user's body according to the movement of the massage module (100).

[0157] In addition, the massage block (10) of the massage module (100) according to the present invention can rotate toward the user according to the rotation of the movable bracket (4) of the massage block movable axis (260), so that the depth of massage for the user by the massage elements (25a, 25b) can be adjusted.

[0158] In one embodiment, the rotation shaft (23) provided in the unit body (22) has a first guide hole (23a) formed through the center thereof, and a first massage unit mounting shaft (52) can be inserted into the first guide hole (23a). In addition, a second guide hole (23b) into which a second massage unit mounting shaft (54) is inserted is formed in the unit body (22), and a guide slot (27) into which a guide bar (56) is inserted can be provided on the outside of the unit body (22).

[0159] Meanwhile, a transfer gear (28) is rotatably mounted on the unit body (22), and the transfer gear (28) is configured as a hollow type having screw threads formed on the inner surface. The transfer gear (28) is screw-connected to a transfer shaft (50) fixed between the first and second movable brackets (40A, 40B). The transfer gear (28) is rotationally driven within the unit body (22) by a transfer motor (30). In one embodiment, the transfer motor (30) is coupled to one side of the unit body (22), and the drive shaft (31) of the transfer motor (30) is formed as a worm gear and the outer surface of the transfer gear (28) is formed as a worm wheel, so that the transfer gear (28) can be rotated by the driving force of the transfer motor (30).

[0160] By this configuration, when the transport motor (30) is rotated, the massage unit (20) is moved horizontally between the first and second movable brackets (40A, 40B) along the transport axis (50), and the horizontal movement of the massage unit (20) can be guided by the first massage unit mounting axis (52), the second massage unit mounting axis (54), and the guide bar (56).

[0161] According to the present invention, since the first massage unit (20A) and the second massage unit (20B) each have a transfer motor (30) and a transfer gear (28) for horizontal movement, the horizontal positions of the first massage unit (20A) and the second massage unit (20B) can be individually controlled.

[0162] Meanwhile, the massage unit (20) has a tapping link (32) that moves forward and backward in a direction perpendicular to the transfer shaft (50). The tapping link (32) can be mounted on the unit body (22). The tapping link (32) includes a tapping shaft coupling portion (34) and an operating bracket coupling portion (36). A tapping shaft (58) is inserted into the tapping shaft coupling portion (34). The operating bracket coupling portion (36) is coupled to the operating bracket (24) at a position spaced apart from the rotation shaft (23) by a predetermined distance.

[0163] As illustrated in Fig. 14, the tapping link (32) moves laterally back and forth so that the operating bracket (24) rotates clockwise and counterclockwise repeatedly around the rotation axis (23). When the tapping link (32) moves forward in the right direction of Fig. 14, the operating bracket (24) rotates clockwise around the rotation axis (23). When the tapping link (32) moves backward in the left direction of Fig. 14, the operating bracket (24) rotates counterclockwise. By repeating this process, the massage elements (25a, 25b) coupled to the ends of the operating bracket (24) can repeatedly tap the user's body.

[0164] In one embodiment, the forward and backward movement of the tapping link (32) can be achieved by the rotation center of the tapping shaft (58) at the intermediate bracket (60) not coinciding with the rotation center of the tapping shaft (58) at the tapping shaft coupling portion (34) of the massage unit (20). That is, the rotation center of the tapping shaft (58) at the tapping shaft coupling portion (34) is eccentric with respect to the rotation center of the tapping shaft (58) at the intermediate bracket (60). Accordingly, when the tapping shaft (58) rotates, the forward and backward movement of the tapping link (32) is induced.

[0165] FIG. 15 is a drawing illustrating an example of measuring the position of a massage unit in a massage module according to one embodiment of the present invention.

[0166] Referring to FIG. 15, the first movable bracket (40A) is provided with a first distance sensor (70A), and the first distance sensor (70A) can measure the distance to the first massage unit (20A) using a TOF (Time-of-flight) method. In addition, the second movable bracket (40B) is provided with a second distance sensor (70B), and the second distance sensor (70B) can measure the distance to the second massage unit (20B) using a TOF method.

[0167] The positions of the first massage unit (20A) and the second massage unit (20B) can be calculated by measuring the rotational amount of the transport motor (30) provided in each of the first massage unit (20A) and the second massage unit (20B) using an encoder or the like, but more accurate position measurement may be possible using the first and second distance sensors (70A, 70B). In one embodiment, the first distance sensor (70A) is provided on the inner surface of the first movable bracket (40A) (toward the first massage unit (20A)), and the second distance sensor (70B) is provided on the inner surface of the second movable bracket (40B) (toward the second massage unit (20B)). In addition, the first distance sensor (70A) and the second distance sensor (70B) can measure distances by irradiating infrared rays or laser light, etc., onto the unit bodies (22) of the first massage unit (20A) and the second massage unit (20B) and processing the reflected signals. Accordingly, there is an advantage in that the positions of the first massage unit (20A) and the second massage unit (20B) on the transfer shaft (50) can be accurately measured and the positions can be controlled.

[0168] FIG. 16 is a drawing showing another embodiment of a massage unit in a massage module according to one embodiment of the present invention, and FIG. 17 is a drawing showing a state in which a massage unit of another embodiment is coupled to a transfer shaft.

[0169] Referring to FIGS. 16 and 17, the massage unit (20') is characterized in that a transport motor (80) having a hollow rotor (82) is provided in the unit body (22) of the massage unit (20') for horizontal driving along the transport axis (50) of the massage unit (20'). Screw threads are formed on the inner surface of the hollow rotor (82) to screw-connect it to the transport axis (50). In the embodiment according to FIGS. 16 and 17, there is an advantage in that the overall size of the massage unit (20') can be reduced by applying the transport motor (80) having the hollow rotor (82).

[0170] While the technical concepts of the present invention have been described above, along with the accompanying drawings, this merely exemplifies preferred embodiments of the invention and does not limit the scope of the invention. Furthermore, it is readily apparent that anyone skilled in the art will be able to make various modifications and imitations without departing from the scope of the technical concepts of the present invention.

[0171] 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."

[0172] 10: Massage block

[0173] 20, 20': Massage unit

[0174] 30: Transport motor

[0175] 40: Movable bracket

[0176] 50: Transfer axis

[0177] 100: Massage Module

[0178] 200: Module Frame

Claims

1. In the massage module provided in the massage device, a transfer shaft fixed within the above massage module; and A massage unit comprising a unit body having massage elements that stimulate the user's body, and a transport mechanism provided on the unit body and driving the unit body to move along the transport axis; Massage module including.

2. In paragraph 1, A screw thread is formed on the outer surface of the above-mentioned transfer shaft, A massage module characterized in that the above transport mechanism includes a transport gear that is rotatably provided on the unit body and screw-connected to the transport shaft, and a transport motor that rotates the transport gear.

3. In paragraph 2, A massage module characterized in that a worm gear is provided on the output shaft of the above-mentioned transport motor, and the outer surface of the above-mentioned transport gear forms a worm wheel that meshes with the above-mentioned worm gear.

4. In paragraph 1, A screw thread is formed on the outer surface of the above-mentioned transfer shaft, A massage module characterized in that the above-mentioned transport mechanism is a transport motor including a hollow rotor having threads formed on an inner surface thereof so as to be screw-connected to the transport shaft.

5. In paragraph 1, A massage module characterized by comprising at least one massage unit mounting shaft disposed through the unit body to guide movement of the massage unit along the transfer axis.

6. In paragraph 1, A massage module characterized in that the massage unit includes a first massage unit and a second massage unit arranged along the transfer axis, and the first massage unit and the second massage unit are individually moved along the transfer axis.

7. In any one of paragraphs 1 to 6, A massage block is formed together with the above massage unit, and the first movable bracket and the second movable bracket are mounted on the transfer shaft and the massage unit and are arranged to face each other; and A module frame equipped with the above massage block and coupled to the body massage section of the massage device; Massage module including:

8. In paragraph 7, A massage module characterized in that the module frame is provided with a massage block mounting shaft to which the first movable bracket and the second movable bracket are rotatably connected.

9. In paragraph 7, A bracket movable gear is formed at one end of each of the first movable bracket and the second movable bracket, The above module frame is provided with a massage block movable shaft having a massage block drive gear that meshes with the above bracket movable gear, A massage module characterized in that the first movable bracket and the second movable bracket are rotated relative to the massage block mounting axis by rotating the massage block movable axis by a movable motor.

10. In paragraph 7, The above massage unit includes an operating bracket having the massage element at an end and rotatably connected to the rotational axis of the unit body, A massage module characterized in that the unit body is provided with a tapping link that is connected to the operating bracket at a position spaced apart from the rotation axis and allows the operating bracket to rotate repeatedly in the forward and reverse directions around the rotation axis according to a reciprocating motion.

11. In paragraph 10, The above-mentioned tapping link has a tapping shaft coupling part to which a tapping shaft rotated by a tapping motor is rotatably coupled, A massage module characterized in that the reciprocating motion of the tapping link is performed by eccentrically arranging the rotation center of the tapping motor of the tapping axis and the rotation center of the tapping axis coupling portion.

12. In paragraph 11, A massage module characterized in that an intermediate bracket is provided between the first movable bracket and the second movable bracket, in which the tapping motor is mounted and the tapping shaft is rotationally driven, and the transfer shaft is arranged to penetrate the intermediate bracket.

13. In paragraph 11, A massage module characterized in that both ends of the above-mentioned tapping axis are received in the tapping axis passage holes formed in the first movable bracket and the second movable bracket, respectively.

14. In paragraph 7, A massage module characterized in that at least one of the first movable bracket and the second movable bracket is provided with a distance sensor that measures the distance to the massage unit using a TOF method.

15. A method for controlling a massage device including a massage module according to any one of claims 1 to 6, A control method for a massage device, characterized in that the positions of the first massage unit and the second massage unit of the above massage unit are individually controlled.

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