KR102156979B1 - Apparatus and method of massage including replaceable massage ball - Google Patents

Abstract

Disclosed is a massage device and method capable of automatic or manual self-replacement of a massage ball. According to an embodiment of the present disclosure, in a massage apparatus having a massage module equipped with a massage ball, a massage ball replacement command is input, and a replacement for determining whether the received replacement command is an automatic replacement command or a manual replacement command. Order decision unit; A replacement position determining unit for determining a position of a massage ball for replacing the massage ball based on the massage ball replacement command; And a driving control unit for controlling the driving of the massage module according to the determined position of the massage ball.

Description

Massage device and method including replaceable massage balls {APPARATUS AND METHOD OF MASSAGE INCLUDING REPLACEABLE MASSAGE BALL}

The present disclosure relates to a massage device and method including a replaceable massage ball, and more particularly, to a massage device and method capable of automatically replacing the massage ball or manually self-replaceable according to the massage ball replacement command.

Massage refers to the modulation of the subject's body by applying various types of mechanical stimulation to the part of the subject's body, such as kneading, pressing, pulling, tapping, or moving a part of the subject's body, and blood It is a medical adjuvant therapy that helps circulation and relieves the subject's fatigue.

The increase in massage demand has caused an increase in demand for massage devices or massage devices that provide artificial massage functions due to economic and time reasons. That is, as the demand for relieving fatigue or stress increases while releasing the lumped muscles through massage, various massage devices in a time- and cost-effective manner are being released. Any type of apparatus, device, or apparatus that performs a massage without a separate massager through a mechanical device is referred to as a massage device.

Furthermore, there is an increasing demand from users for massage devices capable of not only relieving fatigue or stress but also improving health by performing a massage.

Therefore, research is ongoing to provide a massage device that can improve the health of the user.

Korean Patent Registration No. 10-0941919 provides a massage device for providing a massage that can improve the user's health.

The present disclosure has been derived in response to the above-described background technology, and an object of the present disclosure is to provide a massage device and method capable of automatically replacing or manually replacing a massage ball of a massage device according to a user's intention.

The present disclosure for solving the above problem is in a massage device having a massage module equipped with a massage ball, in a massage device, in which a massage ball replacement command is input, and whether the received replacement command is an automatic replacement command or a manual replacement command A replacement order determination unit that determines whether or not; A replacement position determining unit for determining a position of a massage ball for replacing the massage ball based on the massage ball replacement command; And a driving control unit that controls driving of the massage module according to the determined position of the massage ball.

According to an embodiment of the present disclosure, it is possible to provide a massage device and method capable of automatically replacing or manually replacing a massage ball according to a user's intention.

The effects obtainable in the present disclosure are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those of ordinary skill in the art from the following description. .

Various aspects are now described with reference to the drawings, wherein like reference numbers are used collectively to refer to like elements. In the examples that follow, for illustrative purposes, a number of specific details are presented to provide a holistic understanding of one or more aspects. However, it will be apparent that such aspect(s) may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form to facilitate describing one or more aspects.
1 is a view for explaining a massage device 1000 according to an embodiment of the present disclosure.
2 is a diagram illustrating a main frame according to an embodiment of the present disclosure.
3 is a front view showing a state as viewed from the front of the massage module according to an embodiment of the present disclosure.
4 is a view illustrating a massage module according to an embodiment of the present disclosure viewed from an upper side of the front side.
5 and 6 are rear views illustrating a massage module according to an embodiment of the present disclosure as viewed from the rear.
7 is a side view illustrating a side view of the massage module according to an embodiment of the present disclosure.
8 is a view for explaining the rotation of the massage ball module according to an embodiment of the present disclosure.
9 is a view for explaining the movement of the massage ball module on the Z axis according to an embodiment of the present disclosure.
10 is a view for explaining an opening formed in at least a part of a massage device to replace the massage ball according to an embodiment of the present disclosure.
11 is a diagram illustrating an example of a head cover covering an opening according to an embodiment of the present disclosure.
12 is a perspective view showing some configurations of a massage ball and a mount bracket designed to manually self-replace a massage ball according to an embodiment of the present disclosure.
13 is a perspective view illustrating a case (d) of fixing a massage ball to a mount bracket and a case (e) of detaching the massage ball from the mount bracket according to an embodiment of the present disclosure.
14 is a block diagram showing a configuration of a massage device capable of automatically replacing or manually replacing a massage ball according to an embodiment of the present disclosure.
15 illustrates an example of an interface through which a user can intuitively input a massage ball replacement command through a control device.
16 and 17 are flowcharts illustrating a method of automatically replacing or manually replacing a massage ball according to an embodiment of the present disclosure.

Objects, features, and advantages of the present disclosure described above will become more apparent through the following embodiments in connection with the accompanying drawings. The following specific structure or functional descriptions are exemplified only for the purpose of describing embodiments according to the concept of the present disclosure, and embodiments according to the concept of the present disclosure may be implemented in various forms and described in this specification or application. It should not be construed as being limited to the examples.

Since the embodiments according to the concept of the present disclosure can apply various changes and have various forms, specific embodiments are illustrated in the drawings and will be described in detail in the present specification or application. However, this is not intended to limit the embodiments according to the concept of the present disclosure to a specific form of disclosure, and it is to be understood that all changes, equivalents, and substitutes included in the spirit and scope of the present disclosure are included.

Terms such as first and/or second may be used to describe various elements, but the elements are not limited to the terms. The terms are only for the purpose of distinguishing one component from other components, for example, without departing from the scope of rights according to the concept of the present disclosure, the first component may be named as the second component, and similar Thus, the second component may also be referred to as a first component.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. Should be. On the other hand, when a certain component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle. Other expressions used to describe the relationship between constituent elements, such as "between" and "directly between" or "adjacent to" and "directly adjacent to" should be interpreted as well.

Terms used in the present specification are used only to describe specific embodiments, and are not intended to limit the present disclosure. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present specification, terms such as "comprise" or "have" are intended to designate the existence of a set feature, number, step, action, component, part, or combination thereof, but one or more other features or numbers, It is to be understood that the possibility of addition or presence of steps, actions, components, parts, or combinations thereof is not preliminarily excluded.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. Terms as defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this specification. Does not.

In the present specification, an actuator means a configuration capable of providing a driving force. For example, the actuator may include a motor, a linear motor, an electronic motor, a DC motor, an AC motor, a linear actuator, an electric actuator, and the like, but is not limited thereto.

In the present specification, the binaural bit may mean a specific type of audio information capable of controlling an EEG.

In the present specification, according to an embodiment, the massage device may refer to a massage device including a body massage unit and a leg massage unit. In addition, according to another embodiment, the body massage unit 100 and the leg massage unit 300 may exist as separate separate devices (eg, a body massage device and a leg massage device), and the massage device is a body massage device. It may refer to a device or a leg massage device.

Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings.

1 is a view for explaining a massage device 1000 according to an embodiment of the present disclosure.

The massage device 1000 according to an embodiment of the present disclosure forms an area for accommodating at least a part of a user's body, and a body massage unit 100 that massages the user's body, and massages the user's leg. It may include a leg massage unit 300.

The body massage unit 100 may provide a massage to at least a part of a user's body. The body massage unit 100 includes a massage module 1700 that provides a massage function to at least a part of a user's body, an audio output module 1600 for providing an audio output in an arbitrary form to a user, and a body massage unit 100 It may include a main frame 1100 constituting the skeleton of the user and a user input unit 1800 for receiving an input of an arbitrary form from the user.

The configurations included in the above-described body massage unit 100 are only exemplary embodiments, and the body massage unit 100 may include various configurations in addition to the above-described configuration.

In addition, the shape and structure of the massage device 1000 shown in FIG. 1 is only exemplary, and as long as it does not depart from the scope of the rights defined by the claims of the present disclosure, various types of massage device 1000 are also disclosed. It can be included within the scope of the content.

The body massage unit 100 may form an arbitrary type of space for accommodating a user. The body massage unit 100 may have a space having a shape corresponding to the shape of the user's body. For example, as shown in FIG. 1, the body massage unit 100 may be implemented as a seating type capable of accommodating a user's whole body or a part of the body.

A portion of the body massage unit 100 in contact with the ground may include an arbitrary material for increasing the frictional force or an arbitrary member (for example, an anti-slip pad, etc.) for increasing the frictional force, and the massage device 1000 It may include a wheel to enhance the mobility of the.

At least a portion of the body massage unit 100 may slide. For example, when the body massage unit 100 starts a massage, at least a portion of the body massage unit 100 may slide forward. In addition, the body massage unit 100 may be inclined rearward. As a result, the body massage unit 100 may provide a massage while inclined to the rear.

According to an embodiment of the present disclosure, the massage apparatus 1000 may include at least one air cell (not shown). The air cell may be located in the user's shoulder part, pelvis part, arm massage part, leg massage part 300, or the like, but is not limited thereto, and may be disposed in various parts of the massage apparatus 1000.

The massage apparatus 1000 may include an air supply unit, 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 100 and may be located at the leg massage unit 300. In addition, the air supply unit may be located outside the massage device 1000.

The leg massage unit 300 may provide a leg massage to a user. For example, the leg massage unit 300 may include a calf massage unit for massaging the user's calf and/or a foot massage unit for massaging the user's foot.

The leg massage unit 300 may be adjustable in length according to the user's body characteristics. For example, when a tall user uses the massage device 1000, the length of the leg massage unit 300 needs to be lengthened because the length of the calf is long. In addition, when a user with a small height uses the massage apparatus 1000, the leg massage unit 300 needs to be shortened because the length of the calf is short. Accordingly, the leg massage unit 300 may provide a leg massage customized to the user's height.

The massage module 1700 may be provided inside the body massage unit 100 to provide mechanical stimulation in any form to a user accommodated in the body massage unit 100. As shown in FIG. 1, the massage module 1700 may move along the main frame 1100 provided inside the body massage unit 100.

For example, a rack gear may be provided on the main frame 1100 of the body massage unit 100, and the massage module 1700 may move along the rack gear, while mechanically controlling various parts of the user's body. Can provide stimulation. The massage module 1700 may include a ball massage unit or a roller massage unit, but is not limited thereto.

The main frame 1100 constitutes a skeleton of an internal structure of the body massage unit 100 and may be implemented with a metal material or a plastic material. For example, the main frame 1100 may be implemented with iron, alloy, steel, or the like, but is not limited thereto and may be implemented with various hard materials.

According to an embodiment of the present disclosure, the massage apparatus 1000 may include an audio output module 1600. The audio output module 1600 may be provided in various locations. For example, the audio output module 1600 is an upper audio output unit disposed on the upper part of the seat in contact with the user, a front audio output unit attached to the front end of the left and right arm massage parts of the seat, and/or attached to the rear end of the arm massage part. It may include a plurality of output units such as a rear audio output unit and the like, but is not limited thereto. In this case, the audio output module 1600 may provide 3D sound such as 5.1 channels, but is not limited thereto.

According to an exemplary embodiment of the present disclosure, a user may control the massage apparatus 1000 using the massage apparatus control device 2000. The massage apparatus control device 2000 may be connected to the massage apparatus 1000 through wired communication and/or wireless communication.

The massage device control device 2000 may include a remote controller, a cellular phone, a personal digital assistant (PDA), and the like, but is not limited thereto, and through wired or wireless communication with the massage device 1000 It may include a variety of connectable electronic devices.

2 is a diagram illustrating a main frame according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, the main frame 1100 may include an upper frame 1150 in which the massage module 1700 is provided and a base frame 1110 supporting the upper frame 1150.

A rack gear 1151 may be provided on at least a portion of the upper frame 1150. The rack gear 1151 is a member for guiding the upward movement of the body massage module 1700 and may include a plurality of valleys and a plurality of floors.

According to an embodiment of the present disclosure, the rack gear 1151 may be provided to face both sides of the upper frame 1150, and the body massage module 1700 may move along the rack gear 1151. .

For example, the body massage module 1700 may include a gear that meshes with the rack gear 1151, and when the gear is rotated by an actuator provided in the body massage module 1700, the body massage module 1700 It can be moved upwards or downwards.

The rack gear 1151 may be implemented with a metal material or a plastic material. For example, the rack gear 1151 may be implemented with iron, steel, alloy, reinforced plastic, melamine resin, phenol resin, etc., but is not limited thereto.

The upper frame 1150 may be implemented in various shapes. For example, the upper frame 1150 may be classified into an S frame, an L frame, an S&L frame, and a double S&L frame according to the shape, but is not limited thereto.

The S frame refers to a frame in which at least a portion of the upper frame 1150 has a curved shape such as “S”. L frame means a frame in which at least a part of the upper frame 1150 has a curved shape like "L", and the S&L frame includes both a curved shape like "S" and a curved shape like "L" The double S&L frame refers to a frame that includes a curved shape like an L" and a curved shape like an "S" of two parts.

The base frame 1110 refers to a portion of the main frame 1100 that supports the upper frame 1150 and contacts the ground. The base frame 1110 may include a base upper frame 1111 and a base lower frame 1112.

The base upper frame 1111 may support the upper frame 1150, and the base lower frame 1112 may contact the ground. In addition, the upper base frame 1111 may be positioned in contact with the lower base frame 1112.

According to an embodiment of the present disclosure, the upper base frame 1111 may move along the lower base frame 1112. For example, the base upper frame 1111 may slide forward or backward along the base lower frame 1112. In this case, the upper frame 1150 is connected to the base upper frame 1111 and may move according to the movement of the base upper frame 1111.

For example, when the base upper frame 1111 moves forward, the upper frame 1150 can also move forward, and when the base upper frame 1111 moves backward, the upper frame 1150 also moves backward. You can move. For this reason, the sliding movement of the body massage unit 100 may be allowed.

Specifically, in order to allow movement of the base upper frame 1111, a moving wheel may be provided under the base upper frame 1111. In addition, a guide member capable of guiding the moving wheel may be provided above the base lower frame 1112. The moving wheel provided in the base upper frame 1111 moves along a guide member provided in the base lower frame 1112, so that the base upper frame 1111 may be moved forward or backward.

According to another embodiment of the present disclosure, the massage device 1000 may not provide a sliding function, and in this case, the base frame 1110 may not be separated into an upper and lower frame.

3 is a front view illustrating a massage module according to an embodiment of the present disclosure as viewed from the front, and FIG. 4 is a view illustrating a massage module according to an exemplary embodiment of the present disclosure viewed from an upper side of the front side, 5 and 6 are rear views showing a rear view of a massage module according to an embodiment of the present disclosure, and FIG. 7 is a side view showing a side view of a massage module according to an embodiment of the present disclosure 8 is a view for explaining the rotation of the massage ball module according to an embodiment of the present disclosure, and FIG. 9 is a view for explaining the movement of the massage ball module along the Z axis according to an embodiment of the present disclosure .

3 to 7, the massage module 1700 according to an embodiment of the present disclosure may include a massage ball module 700, a 3-axis movement module 800, and a tapping module 900.

Referring to FIG. 3, the massage ball module 700 may include a plurality of massage balls 701, 702, 703 and a mount bracket 710. The mount bracket 710 may include a plurality of arms extending in different directions, and the massage balls 701 to 703 may be replaced at each end of each arm.

The plurality of massage balls 701, 702, and 703 may have the same physical properties or sizes, or may be provided differently. For example, the physical properties of the massage ball may be provided with at least one of jade, stone, plastic, aluminum, and synthetic rubber, and the size of the massage ball is the diameter of the cross section, the volume of the massage ball, and the area that touches the user's body during the massage. It may mean at least one of.

Arms extending in different directions from the mount bracket 710 may have the same length. In another embodiment, the arms may have different lengths. The mount bracket 710 may be rotated by the actuator 732, and the massage ball protruding in the massage direction may be replaced by the rotation of the mount bracket 710. The mount bracket 710 may be fastened to the gearbox 730, and in an embodiment, the gearbox 730 may be provided with a worm gear including a shaft and a tooth. By the worm gear, the mount bracket 710 may be fixed so that it does not rotate during the massage or during normal operation. Specifically, only when the control unit 1200 drives the actuator 730 to rotate the mount bracket 710, the shaft of the worm gear rotates, and as the teeth engaged with the shaft rotate, the mount bracket 710 This can be rotated. Conversely, the shaft cannot be rotated by the teeth, which is due to the structure of the worm gear in which only the screw can move the wheel.

The massage ball module 700 may provide a massage to a user through at least one massage ball determined by a replacement command among the plurality of massage balls 701, 702, and 703.

The 3-axis movement module may include an X-axis movement module that moves the massage ball module 700 on the X-axis, a Y-axis movement module that moves on the Y-axis, and a Z-axis movement module that moves on the Z-axis. In one embodiment, the X-axis movement module includes a shaft 812 and an actuator 818, and the Y-axis movement module includes pinion gears 824 and 826, a rack gear 1100, and an actuator 828, The Z-axis movement module may include a shaft 832, a pinion gear 834, a rack gear 836 and an actuator 838.

The 3-axis movement module can secure the degree of freedom of movement of the massage ball module 700 by moving the massage ball module 700 in at least one of the X-axis, Y-axis, and Z-axis. Massage can be provided over large areas.

A plurality of massage ball modules 700 may be provided on the left and right sides with respect to the X-axis, but the present disclosure illustrates an example provided one on the left and one on the right side, and the present disclosure may not be limited thereto.

6, in each of the left and right massage ball modules 700, one end of the link 910 may be coupled to the center of the rear surface of the mount bracket 710 on which the massage balls 701, 702, and 703 are mounted. And, as described above, it may be coupled by the structure of the worm gear. Referring to FIG. 8, the mount bracket 710 may rotate 360 degrees based on the center, and may rotate clockwise or counterclockwise.

Referring back to FIG. 6, the link 910 includes the massage ball module 700 including the X-axis movement module 810, the Y-axis movement module 820, the Z-axis movement module 830, and the tapping module 900. It may be provided to interlock with the drive.

To this end, the other end of the link 910 may extend in at least two directions, and the other end extending in one direction may be connected to one end of the support bracket 740 to be fixed.

The support bracket 740 may be provided in a shape similar to the inequality sign'<', and the upper end of the support bracket 740 may be fixed to the link 910, and the shaft 837 penetrating each of the middle and lower ends. It may be connected to and fixed to the Z-axis moving module 830 through 839. Accordingly, the massage ball module 700 may be linked to the driving of the Z-axis movement module 830. The Z-axis movement module 830 may include a shaft 832, a pinion gear 834, and a rack gear 836. When the shaft 832 is rotated by the actuator 838, the pinion gear 834 fitted in the shaft 832 can rotate, and accordingly, the rack gear 836 meshed with the pinion gear 834 can move. .

3 and 9, when the shaft 832 rotates clockwise by the actuator 838, the pinion gear 834 rotates clockwise, and the rack gear 836 meshed with the pinion gear 834 ) Moves to the rear, whereby the massage ball module 700 can protrude forward on the Z axis. 9A shows a state in which the massage ball module 700 protrudes forward on the Z-axis while the rack gear 836 moves backward.

Here, when the lengths of the arms extending in different directions from the mount bracket 710 are provided differently, it is based on the protruding length of the Z-axis moving module 830 along the Z axis and the length of the arm extended from the mount bracket 710. Therefore, massage for various areas may be possible. For example, if the protrusion length along the Z axis of the Z-axis movement module 830 is maximized and the longest arm among the arms of the mount bracket 710 is used, massage can be performed even on the thigh through the massage module 1700. .

Conversely, when the shaft 832 rotates counterclockwise by the actuator 838, the pinion gear 834 rotates counterclockwise, and the rack gear 836 meshed with the pinion gear 834 moves forward. In this way, the massage ball module 700 can be retracted rearward on the Z axis. 9B shows a state in which the massage ball module 700 retreats rearward on the Z axis while the rack gear 836 moves forward.

Here, when the massage ball module 700 is moved to the rear along the Z axis and then the mount bracket 710 is rotated to replace the massage ball, the massage ball module 700 is far away from the back of the user. Therefore, it is possible to prevent interference by the user's body in replacing the massage ball, and there is an effect of reducing the torque required for rotation of the actuator.

Referring back to FIG. 6, the other end of the link 910 extending in the other direction may be fixed to one end of the sub link 920. A hole 922 is formed at the other end of the sub link 920 and may be connected to the tapping module 900 by a shaft 930 penetrating the hole 922. The shaft 930 passes through the hole 922 in a region that is eccentric by a predetermined amount from the center of the cross section of the hole 922 and is biased. In addition, a second core (not shown) surrounding the shaft 930 is provided inside the hole 922, and the second core may be rotated by the rotation of the shaft 930 inside the hole 922.

Specifically, the middle of the shaft 930 passes through the bridge bracket 814, and the left shaft 930 passes through the left hole 922 based on an eccentric axis biased by a predetermined amount with respect to the center, and the right shaft The 930 may pass through the right hole 922 based on the eccentric axis inclined by a predetermined amount from the center.

When the shaft 930 repeats 360-degree rotation inside the hole 922, the secondary center inserted in the shaft 930 rotates about the eccentric axis, whereby the sub-link 920 and the link 910 protrude and retreat. You can move repeatedly. As the link 910 repeats protrusion and retraction, the massage ball repeats protrusion and retreat in the massage direction,

The massage ball can provide a tapping motion on the user's back.

On the other hand, the eccentric shaft that is the axis of rotation of the shaft 930 in the left hole 922 and the eccentric shaft that is the axis of rotation of the shaft 930 in the right hole 922 are formed differently based on the Z-axis line. can do. In this state, when the shaft 930 rotates, the left massage ball and the right massage ball repeatedly protrude and retreat at different positions based on the Z-axis line, so that the left and right massage balls are applied to the user's back. The balls can protrude alternately.

Referring to FIG. 3, an X-axis moving module 810 may be provided on the support bracket 740. Specifically, the left support bracket 740 may include a left screw hole penetrating through the central portion, and the right support bracket 740 may include a right screw hole penetrating the central portion.

The X-axis movement module 810 may include a shaft 812 provided in a left-right symmetrical lead screw structure so as to fit into the left and right screw holes. In other words, the shaft 812 may include a left thread fastened to the left screw hole and a right thread fastened to the right screw hole. Here, in the left and right threads, the directions of the threads may be symmetrical in opposite directions to each other. Due to this structure, when the shaft 812 rotates in any one direction, the left massage ball module 700 and the right massage ball module 700 may move in opposite directions on the X axis.

In one embodiment, when the shaft 812 rotates in a clockwise direction, the left massage ball module 700 and the right massage ball module 700 may move inward to each other on the X-axis, and the shaft 812 is vice versa. When rotated in a clockwise direction, the left massage ball module 700 and the right massage ball module 700 may move outwardly from each other on the X axis. The rotation direction of the shaft 812 and the movement direction of the massage ball module 700 are only an example, and may be set in reverse.

The Y-axis movement module 810 may move the massage module 1700 in an upward direction or a downward direction on the Y-axis while moving along the main frame 1100. Specifically, the Y-axis movement module 810 may move the massage module 1700 as the pinion gears 824 and 826 fitted to the shaft 822 move along the main frame 1100 provided as a rack gear. .

10 is a view for explaining an opening formed in at least a part of a massage device to replace a massage ball according to an embodiment of the present disclosure, and FIG. 11 is a view of a head cover covering the opening according to an embodiment of the present disclosure. It is a figure showing an example.

Referring to FIG. 10(a), the massage device 1000 according to an embodiment of the present disclosure is for exposing the massage ball to at least a portion of a path in which the massage ball module 700 moves and a cover of a neighboring massage device. It includes an opening 600. The opening 600 may be formed to a size such that at least one massage ball can be exposed, and may be formed by partially omitting the cover of the massage device 1000, or a part of the cover of the massage device 1000 It may be formed in an open/closed manner by means such as a zipper or Velcro.

When the opening 600 is provided by omitting a part of the cover of the massage device 1000, as shown in FIG. 11, the head portion of the massage device 1000 in the usual or massage providing mode except for the massage ball replacement The opening 600 may be covered by using the head cover 610 provided in a hinged manner. When the hinged head cover 610 is lifted, the opening 600 is exposed, and when the head cover 610 is lowered, the opening 600 may be covered. In the present disclosure, an example in which the head cover 610 is provided in a hinged manner on the massage device 1000 is illustrated, but the method in which the head cover 610 is coupled may not be limited thereto.

In the present disclosure, an example in which one opening 600 is formed on the left and right corresponding to the massage ball module 700 provided on the left and the right, respectively, is illustrated, but the number, shape, and formation method of the opening 600 are illustrated. It may not be limited. In addition, in FIG. 10, an example in which the opening 600 is formed in a portion corresponding to the head of the massage device 1000 is illustrated, but the present invention is not limited thereto, and at least one of the uppermost end or the lowermost end of the path through which the massage module 1700 moves. It may be provided on the site. In addition, the opening 600 may be provided at an upper end or a lower end that does not belong to the moving range of the massage module 1700 in a general massage state. Accordingly, it is possible to facilitate the user's access to the opening 600 for replacing the massage ball and the replacement of the massage ball.

10(b) shows a state in which the massage ball is exposed through the left and right openings 600 according to an embodiment of the present disclosure. In FIG. 10(b), each massage ball 701 and 702 is shown to protrude through the opening 600, but each massage ball 701 to 703 does not protrude through the opening 600, but only exposed. May be.

When the massage ball is replaced with the massage balls 701 to 703 protruding through the opening 600 as shown in FIG. 10(b), the massage balls 701 to 703 do not protrude and are exposed only There is an advantage in that the discomfort caused by leakage of the massage ball can be reduced compared to the case of replacing the. For example, when the user wants to manually replace the massage balls 701 to 703 through the opening 600, the massage balls 701 to 703 are exposed only without protruding. ) During replacement, if the massage balls 701 to 703 are missed due to a user's mistake, etc., and the massage balls 701 to 703 fall to the inner floor of the massage device 1000, almost the entire cover of the massage device 1000 is removed. The discomfort that should be done will occur. On the other hand, if the massage balls 701 to 703 are exposed through the opening 600 and the massage balls 701 to 703 are replaced, the massage balls 701 to 703 are massaged even if the massage balls 701 to 703 are missed. Since the device 1000 will fall to the outside of the cover, there is an advantage that it can be easily found even if the massage ball is lost.

10C is a side cross-sectional view illustrating the massage balls 701 to 703 exposed through the left opening 600 according to an exemplary embodiment of the present disclosure. As shown in FIG. 10(c), the 3-axis movement module moves the massage ball module 700 upward or downward through the Y-axis movement module to expose the massage balls 701 to 703 through the opening 600. A drive to move to a height corresponding to the Y-axis coordinate of 600, a drive to move the massage ball module 700 to a position corresponding to the X-axis coordinate of the opening 600 through the X-axis moving module, and a Z-axis moving module At least one of the driving of moving the massage ball module 700 forward on the Z-axis may be performed through. In order to move to a position for replacing the massage balls 701 to 703 as described above, the massage device 1000 may use at least one of a position sensor and a counter for tracking the current position of the massage ball module 700.

12 is a perspective view showing some configurations of a massage ball and a mount bracket designed to manually self-replace a massage ball according to an embodiment of the present disclosure, and FIG. 13 is a massage ball according to an embodiment of the present disclosure. It is a perspective view showing the case of fixing to the mount bracket and the case of detaching the massage ball from the mount bracket.

Referring to Figure 12, the end 711 of the arm extended in different directions from the mount bracket 710 is a fixed shaft 712, a pin 713, a spring 716, a fixing ball 714 and a bushing ( 715).

The fixed shaft 712 may protrude vertically from the arm at the end. The fixed shaft 712 may include a first groove formed therein along the protruding longitudinal direction, and may include a first hole penetrating the first groove in at least a portion of the outer circumference.

The pin 713 may be a pin in the form of a mortar whose one side is a pressing member. Hereinafter, a portion having a relatively bulging circumference of the pin 713 may be referred to as a bulging member, and a portion of the pin 713 having a relatively thin circumference may be referred to as a concave member.

The spring 716 may be inserted into the fixing shaft 712 of the arm so that the fixing ball 714 protrudes to the outside of the ball opening of the fixing shaft 712 by an elastic force in an ordinary time. The spring 716 may be provided to surround a part of the circumference of the pin 713 adjacent to one end of the pressing member.

The bushing 715 is provided in a cylindrical shape that is inserted into the hole passing through the massage ball 701, and may include a second groove formed therein along the length direction. A fixed shaft 712 may be fitted in the second groove. A second hole 725 penetrating the second groove may be included in at least a portion of the circumference of the side surface of the bushing 715.

Here, the diameter of the second hole 725 may be formed to be shorter than the diameter of the fixing ball 714, so that the fixing ball 714 may be formed to span the hole 725. In other words, the fixing ball 714 is spanned through the hole 725, but may be provided to be rolled by the shape of the ball.

13(d) shows a part of the cross section of the massage ball module 700 when the massage ball 701 is fixed to the fixed shaft 712 of the arm, and (e) shows the massage ball 701 of the arm. An example of detachment from the fixed shaft 712 is shown.

13D shows a state in which the massage ball 701 is fixed to the distal end 711 of the arm.

12 and 13(d), the outer circumference of the bushing 715 is fitted so as to contact the inner wall of the through hole of the massage ball 701, and at the same time, the inner wall of the fastening groove of the bushing 715 is a fixed shaft ( 712). At this time, the fixing ball 714 is inserted into the hole 725, one surface of the fixing ball 714 is in contact with the bulging member of the mortar-shaped pin 713, and the other surface of the fixing ball 714 is a hole ( 725) may remain in a state that does not come off.

On the contrary, as shown in (e) of FIG. 13, when the exposed pressing member of the pin 713 is pressed and pressed, the concave member portion of the pin 713 can be moved to the position where the fixing ball 714 is located. . As a result, the fixing ball 714 may fall out into the concave portion of the pin 713. When the fixing ball 714 falls into the concave portion of the pin 713, the fixing ball 714 may be in a state that does not fit into the hole 725. In other words, the state in which the fixing ball 714 is inserted into the hole 725 may be released. Accordingly, the bushing 715 can be easily removed from the fixed shaft 712. While removing the bushing 715, after removing the massage ball 701, another massage ball may be inserted into the structure as shown in (d) of FIG. 13 again.

According to an embodiment of the present disclosure as described above, the massage ball may be manually self-replaceable through an opening provided in at least a part of the massage device, thereby maximizing diversity in the size and physical properties of the massage ball, There is an effect that can diversify the combination of massage balls.

14 is a block diagram illustrating a configuration of a massage device capable of replacing a massage ball according to an embodiment of the present disclosure.

Referring to FIG. 14, according to an embodiment of the present disclosure, a massage device 1000 includes a control unit 1200, a sensor unit 1300, a network connection unit 1400, a storage unit 1500, and an audio output module 1600. And at least one of the user input unit 1700.

The controller 1200 may control the operation of the massage device 1000. The control unit 1200 may be implemented with one processor, or may be implemented with a plurality of processors. When the control unit 1200 is implemented with a plurality of processors, at least some of the plurality of processors may be located at physically spaced distances. In addition, the controller 1200 is not limited thereto and may be implemented in various ways.

According to an embodiment of the present disclosure, the controller 1200 may control an operation of the massage device 1000. For example, the massage device 1000 may include a plurality of actuators, and the massage device 1000 controls the operation of the plurality of actuators,

The operation of the massage device 1000 may be controlled. For example, the massage device 1000 may include at least one of a massage module 1700 moving actuator, at least one actuator included in the massage module, a back angle actuator, a leg angle actuator, a foot massage actuator, a leg length adjustment actuator, and a sliding actuator. May include, and the control unit 1200 may control the operation of the massage apparatus 1000 by controlling them.

The massage module movement actuator is an actuator that enables the massage module 1700 to move up and down, and the massage module 1700 may move along the rack gear by the movement of the movement actuator of the massage module 1700.

The back angle actuator is an actuator that adjusts the angle of a portion of the massage device 1000 where the user's back abuts, and the conformal angle of the massage device 1000 may be adjusted by the operation of the isometric actuator.

The leg angle actuator is an actuator that adjusts the angle of the leg massage unit 300 of the massage device 1000, and the angle between the leg massage unit 300 and the body massage unit 100 can be adjusted by the operation of the leg angle actuator. have.

The foot massage actuator represents an actuator that operates the foot massage module included in the leg massage unit 300. Using the foot massage actuator, the massage device 1000 may provide a foot massage to a user.

The massage module 1700 may include at least one actuator, and the control unit 1200 may provide various massage operations by operating at least one actuator. For example, the control unit 1200 is included in the massage module 1700

By operating at least one actuator, tapping massage, kneading massage, and the like may be provided, but not limited thereto, and various massage operations may be provided.

The leg length adjustment actuator represents an actuator that adjusts the length of the leg massage unit 300. For example, the control unit 1200 may adjust the length of the leg massage unit 300 to suit the user using the leg length adjustment actuator, and as a result, the user may receive a massage suitable for the body shape.

The sliding actuator enables the sliding operation of the massage device 1000. For example, by the operation of the sliding actuator, the horizontal base upper frame 1114a may move forward or backward, and as a result, the upper frame connected to the horizontal base upper frame 1114a may also move forward or backward.

The sensor unit 1300 may acquire various information by using at least one sensor. The sensor unit 1300 may be provided as a sensor using measuring means such as pressure, potential, and optics. For example, the sensor may include a pressure sensor, an infrared sensor, an LED sensor, a touch sensor, etc., but is not limited thereto.

In addition, the sensor unit 1300 may include a biometric information acquisition sensor. The biometric information acquisition sensor may acquire fingerprint information, face information, voice information, iris information, weight information, electrocardiogram information, body composition information, and the like, but is not limited thereto and may include various biometric information.

According to another embodiment of the present disclosure, the massage apparatus 1000 may detect a contact area and/or a contact location with a user through sensors. In addition, the massage apparatus 1000 may acquire the user's shoulder position information through the sensor unit 1300. In addition, the massage apparatus 1000 may provide a customized massage based on the acquired information. For example, when the massage device 1000 provides shoulder massage, the massage device 1000 recognizes the user's shoulder position based on information obtained through the sensor unit 1300, and provides the user with the recognition result. Can provide shoulder massage.

The user input unit 1800 may receive a command related to operation control of the massage apparatus 1000 from a user, and the user input unit 1800 may be implemented in various forms. For example, the user input unit 1800 may be provided in the body massage unit 100 or may be provided in the leg massage unit 300, but is not limited thereto.

The massage apparatus 1000 may obtain various commands from a user through the user input unit 1800. For example, the massage device 1000 may include selection of a massage module, selection of a massage type, selection of a massage intensity, selection of a massage time, selection of a massage site, selection of the position and motion of the body massage unit 100, and massage. Arbitrary commands may be received for selection of power on-off of the device 1000, selection of whether or not to operate a heating function, selection related to sound source reproduction, and the like, but are not limited thereto.

The massage apparatus 1000 may provide an interface for selecting a massage mode. For example, a medical massage list of various modes related to body improvement may be listed through the massage apparatus control device 2000.

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, a vitality mode, a golf mode, a hip-up mode, a candidate mode, a zero gravity mode, and a growth mode.

In particular, the user input unit 1800 according to an embodiment of the present disclosure may receive a massage ball replacement command. In one embodiment, a massage ball replacement command may be input from a user through a button provided on the main body of the massage apparatus 1000 and an app spread on the control device 2000.

According to another embodiment of the present disclosure, the user input unit 1800 executes hot key type buttons and/or direction selection, cancellation, and input according to a preset user setting function or a self-preset function. It may be provided with a selection button or the like for performing.

The user input unit 1800 may be implemented as a keypad, a dome switch, a touch pad (positive pressure/power failure), a jog wheel, a jog switch, and the like, but is not limited thereto. Also, the user input unit 1800 may obtain a command through a user's speech based on a voice recognition technology.

According to an exemplary embodiment of the present disclosure, the user input unit 1800 may include a display for displaying an operation state of the massage apparatus 1000 or a current state of the user. In this case, the display is a lizuid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. ), and at least one of a 3D display, but is not limited thereto.

The audio output module 1600 may provide an arbitrary type of audio output to a user. For example, the audio output module 1600 may provide brain stimulation to the user by outputting a sound source and/or binaural beat optimized for a massage pattern provided by the massage device 1000 to the user. The audio output module 1600 may output sound signals received through a network (not shown) or stored in an internal/external storage medium (not shown). For example, the audio output module 1600 may output a sound source according to the control of the user terminal 2000 through a network connection (eg, Bluetooth connection, etc.) with the user terminal 2000. Also, the audio output module 1600 may output an arbitrary type of sound signal generated in connection with the operation of the massage device 1000.

The massage apparatus 1000 according to an embodiment of the present disclosure may include a network connection unit 1400. The network connection unit 1400 may communicate with a module inside the massage apparatus 1000, an external massage apparatus, and/or the user terminal 2000 through an arbitrary type of network. The network connection unit 1400 may include a wired/wireless connection module for network access. As a wireless connection technology, for example,

WLAN (Wireless LAN) (Wi-Fi), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), and the like may be used. As a wired access technology, for example, Digital Subscriber Line (XDSL), Fibers to the Home (FTTH), Power Line Communication (PLC), and the like may be used. In addition, the network connection unit may transmit and receive data to and from any device/terminal located in a short distance, including a short-range communication module. For example, as a short range communication technology, Bluetooth, Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra Wideband (UWB), ZigBee, etc. may be used. Not limited.

The storage unit 1500 may store various types of information related to the massage apparatus 1000. For example, the storage unit 1500 may include massage control information and personal authentication information, but is not limited thereto.

The storage unit 1500 according to an embodiment of the present disclosure may store attribute information on a plurality of massage balls currently mounted on the mount bracket 710 and may store information on the current position of the massage ball module 700. have. Here, the current location information of the massage ball module 700 may be a value measured through a location sensor or the like, or may be expressed as a coordinate value expressed by longitude and latitude. Alternatively, the current position of the massage ball module 700 may be expressed as a position value calculated by a counter provided in each of the X-axis, Y-axis and Z-axis, and a method of expressing the position of the massage ball module 700 It may not be limited to this.

In addition, the storage unit 1500 may include replacement information of the massage ball included in the massage mode. When the properties of the massage ball used according to the massage mode are different, a time series replacement plan of the massage ball may be set and stored according to the massage mode.

The storage unit 1500 may be implemented through a non-volatile storage medium capable of continuously storing arbitrary data. For example, the storage unit 1500 may include a storage device based on a flash memory and/or a battery-backup memory, as well as a disk, an optical disk, and a magneto-optical storage device, and is limited thereto. It doesn't work.

In addition, the storage unit 1500 may include a memory. Memory is the main storage device directly accessed by the processor, such as random access memory (RAM) such as dynamic random access memory (DRAM) and static random access memory (SRAM), and stored information is instantaneously accessed when the power is turned off. It may refer to a volatile storage device that is erased by, but is not limited to these. Such a memory may be operated by the controller 1200.

The control unit 1200 of the massage device 1000 capable of replacing the massage ball according to an embodiment of the present disclosure may include a replacement command determining unit 1210, a replacement position determining unit 1220, and a driving control unit 1230. have.

The replacement command determination unit 1210 may receive a massage ball replacement command and determine whether the received replacement command is an automatic replacement command or a manual replacement command.

As an embodiment, when receiving a massage ball replacement command, the replacement command determination unit 1210 may determine whether the replacement command is an automatic replacement command or a manual replacement command based on whether the user is seated in the massage apparatus 1000. Specifically, when it is detected that the user is seated in the massage device 1000, it may be determined that the massage ball replacement command is an automatic replacement command, whereas when it is detected that the user is not seated in the massage device 1000, the massage ball is replaced. It can be determined that the order is a manual replacement order.

Here, whether the user is seated in the massage device 1000 may be determined through a sensor provided in at least a part of the seating portion of the massage device 1000, and the like, but is not limited thereto, except for a method capable of determining whether the user is seated. Other methods can be employed.

As another embodiment, the replacement command determination unit 1210 may determine whether the replacement command is an automatic replacement command or a manual replacement command based on the massage ball replacement command input by the user. For example, the massage device 1000 may provide an interface for selecting an automatic replacement command or a manual replacement command to the user, and the user responds to the provided interface from among the massage balls currently mounted on the mount bracket 710. You can enter a command for selecting a massage ball to be replaced (automatic replacement command) or whether to remove the massage ball currently mounted on the mount bracket (710) and manually replace the massage ball by yourself in order to mount a new massage ball. have.

In addition, according to another embodiment, the massage device 1000 may receive a replacement command by voice from the user, and the massage device 1000 determines whether the voice command represents an automatic replacement command or a manual replacement command. It is possible to determine whether the received voice command is an automatic replacement command or a manual replacement command.

15 illustrates an example of an interface through which a user can intuitively input a massage ball replacement command through the control device 2000. The interface displayed on the control device 2000 is a screen 1500 for selecting whether or not to perform a massage ball replacement, a screen 1501 for selecting manual self-replacement or automatic replacement, as shown in FIG. A screen 1502 for selecting a massage ball or for selecting a single massage ball, and a screen 1503 for selecting a massage ball size when a single massage ball is selected may be included. Here, the selection of the complex massage ball may mean selection of an execution in which the massage ball is automatically changed according to at least one of a user's body part and a massage pattern. In addition, the selection of a single massage ball may mean selection of using only one massage ball selected by the user. Such an execution screen is only an example, and the execution example may not be limited thereto.

In addition, in an interface for inputting a massage ball replacement command, the control device 2000 may display information on the massage balls 701 to 703 currently mounted on the mount bracket 710. For example, information on properties including images of massage balls 701 to 703 currently mounted on the mount bracket 710, the size and physical properties of each massage ball, etc. may be displayed through the display of the control device 2000. The user may directly select the rotation direction of the mount bracket 710, the position of the massage ball to be replaced, and properties of the massage ball through the display.

The replacement position determination unit 1220 may determine the position of the massage ball for replacing the massage ball based on the massage ball replacement command determined by the replacement command determination unit 1210.

The driving control unit 1230 may control the driving of the massage module 1700 based on the position of the massage ball determined by the replacement position determining unit 1220.

Specifically, when the input massage ball replacement command is determined as a manual replacement command, the replacement position determining unit 1220 may determine a position at which the massage ball is exposed by the opening 600 as the replacement position.

When the massage ball replacement position is determined to be the opening 600, the driving control unit 1230 moves the massage ball module 700 upward or downward through the Y-axis movement module 820 to the Y-axis coordinate of the opening 600. Drive to move to a corresponding height, drive to move the massage ball module 700 to a position corresponding to the X-axis coordinate of the opening 600 through the X-axis moving module 810, and through the Z-axis moving module 830 The massage ball may be exposed through the opening 600 by executing at least one of the driving of moving the massage ball module 700 forward on the Z-axis.

Here, in order to move the massage balls 701 to 703 to the replacement position, the massage device 1000 may use at least one of a position sensor and a counter for tracking the current position of the massage ball module 700. The driving of the massage ball module 700 by at least one of the X-axis movement module 810, the Y-axis movement module 820, and the Z-axis movement module 830 is described in detail with reference to FIGS. 3 to 9 above. As mentioned above.

On the other hand, when the input of the massage ball replacement command is determined as the automatic replacement command, the replacement position determining unit 1220 may determine the replacement position of the massage ball module in the rear of the Z axis through the Z-axis movement module 830.

When the massage ball replacement position is determined to be rear on the Z axis, the driving control unit 1230 drives the Z axis moving module 830 to move the massage ball module 700 to the rear on the Z axis as shown in FIG. 9B. That is, after moving to the inside of the massage module 1700, the massage ball protruding in the massage direction may be replaced by rotating the mount bracket 710.

In this way, when the user is seated in the massage device 1000, the massage module 1700 is moved to the rear along the Z-axis and then the massage ball is replaced, thereby preventing interference by the user's body or the cover of the massage device 1000. And there is an effect of reducing the torque required for rotation of the actuator.

The driving of moving the massage ball module 700 to the rear by the Z-axis movement module 830 has been described in detail with reference to FIGS. 3 and 9.

16 is a flowchart illustrating a method of automatically replacing or manually replacing a massage ball according to an embodiment of the present disclosure.

Referring to Figure 16, the automatic replacement or manual self-replacement method of a massage ball according to an embodiment of the present disclosure, first, the massage device 1000 receives a massage ball replacement command (S110), the received replacement command is automatically It is possible to determine whether it is a replacement command or a manual replacement command (S120).

As an embodiment, it may be determined whether the massage ball replacement command input by the user is an automatic replacement command or a manual replacement command.

As another embodiment, as illustrated in FIG. 17, it may be determined whether the replacement command is an automatic replacement command or a manual replacement command based on whether the user is seated in the massage apparatus 1000. When it is detected that the user is seated in the massage device 1000, it is determined that the massage ball replacement command is an automatic replacement command. On the other hand, when it is detected that the user is not seated in the massage device 1000, the massage ball replacement command is manually replaced. It can be determined to be an order.

As for the method of determining the massage ball replacement command, the replacement command determination unit 1210 has been described in detail above.

Next, when the massage ball replacement command is determined as the manual replacement command, the massage apparatus 1000 may determine to expose the massage ball through the opening (S130).

Next, after exposing the massage ball through the opening, the massage apparatus 1000 may complete the manual massage ball replacement mode when a signal for completing manual replacement of the massage ball is input (S140). The method of transferring the massage ball module according to the manual replacement command has been described in detail with reference to FIGS. 3 to 9, and the structure for manual self-replacement of the massage ball module is described in detail with reference to FIGS. 12 and 13 I have a bar.

On the other hand, when the massage ball replacement command is determined as an automatic replacement command, the massage device 1000 may replace the massage ball protruding in the massage direction by rotating the mount bracket after transporting the massage ball to the rear along the Z axis. (S150). A method of transferring the massage ball module according to the automatic replacement command has been described in detail with reference to FIGS. 3 to 9.

On the other hand, the massage ball replacement is not only a command based on the user's input as described above, but also the massage device 1000 itself is an execution to change the properties of the massage ball according to the user's body part, the attribute is different according to the pattern of the massage mode. It may be performed by default by replacing the massage balls or by executing to protrude a plurality of massage balls alternately or sequentially.

Those skilled in the art will 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 can be implemented by a computer-readable medium.

Computer-readable media can be any computer-readable media, including volatile and non-volatile media, transitory and non-transitory media, removable and non-transitory media. Includes removable media. By way of example, and not limitation, computer-readable media may include computer-readable storage media and computer-readable transmission media.

Computer-readable storage media include 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. Includes the medium. Computer-readable storage media include RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital video disk (DVD) or other optical disk storage, magnetic cassette, 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 desired information.

Computer-readable transmission media typically implement computer-readable instructions, data structures, program modules or other data on a modulated data signal such as a carrier wave or other transport mechanism. Includes all information delivery media. The term modulated data signal refers to a signal in which one or more of the characteristics of the signal is set or changed to encode information in the signal. By way of example, and not limitation, computer-readable transmission media include wired media such as a wired network or direct-wired connection, and wireless media such as acoustic, RF, infrared, and other wireless media. Combinations of any of the above-described media are also intended to be included within the scope of computer-readable transmission media.

A person of ordinary skill in the art of the present invention includes various exemplary logical blocks, modules, processors, means, circuits and algorithm steps described in connection with the embodiments disclosed herein, electronic hardware, (convenience). For the sake of clarity, it will be appreciated that it may be implemented by various forms of program or design code or a combination of both (referred to herein as "software"). To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the particular application and design constraints imposed on the overall system. A person of ordinary skill in the art of the present invention may implement the described functions in various ways for each specific application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The various embodiments presented herein may be implemented as a method, apparatus, or article of manufacture using standard programming and/or engineering techniques. The term “article of manufacture” includes a computer program, carrier, or media accessible from any computer-readable device. For example, computer-readable storage media include magnetic storage devices (e.g., hard disks, floppy disks, magnetic strips, etc.), optical disks (e.g., CD, DVD, etc.), smart cards, and flash Memory devices (eg, EEPROMs, cards, sticks, key drives, etc.), but are not limited thereto. The term “machine-readable medium” includes, but is not limited to, wireless channels and various other media capable of storing, holding, and/or transmitting instruction(s) and/or data.

It is to be understood that the specific order or hierarchy of steps in the presented processes is an example of exemplary approaches. Based on the design priorities, it is to be understood that within the scope of the present invention a specific order or hierarchy of steps in processes may be rearranged. The appended method claims provide elements of the various steps in a sample order, but are not meant to be limited to the specific order or hierarchy presented.

The description of the presented embodiments is provided to enable any person skilled in the art to use or implement the present invention. Various modifications to these embodiments will be apparent to those of ordinary skill in the art, and the general principles defined herein can be applied to other embodiments without departing from the scope of the present invention. Thus, the present invention is not to be limited to the embodiments presented herein, but is to be construed in the widest scope consistent with the principles and novel features presented herein.

Claims (11)

In the massage device having a massage module equipped with a massage ball,
A replacement command determination unit for receiving a massage ball replacement command and determining whether the input replacement command is an automatic replacement command or a manual replacement command;
A replacement position determining unit for determining a position of a massage ball for replacing the massage ball based on the massage ball replacement command;
A driving control unit for controlling driving of the massage module according to the determined position of the massage ball; And
An opening for exposing the massage ball to at least a portion of a cover of the massage device adjacent to a path through which the massage module moves;
Including,
The massage module,
A massage ball module in which a massage ball is fastened to each end of the arms extending in different directions from the mount bracket, and the massage ball protruding in a massage direction by rotating the mount bracket is replaced; And
A 3-axis movement module including an X-axis movement module for moving the massage ball module on the X-axis, a Y-axis movement module for movement on the Y-axis, and a Z-axis movement module for movement on the Z-axis;
Containing,
Massage device. delete delete The method of claim 1,
The replacement order determination unit,
Upon receiving the massage ball replacement command, it is determined whether the replacement command is an automatic replacement command or a manual replacement command based on whether the user is seated in the massage device, or
Determine whether the massage ball replacement command entered by the user is an automatic replacement command or a manual replacement command,
Massage device. The method of claim 4,
The replacement position determining unit,
When the massage ball replacement command input is a manual replacement command, determining a position at which the massage ball is exposed by the opening as a replacement position,
Massage device. The method of claim 5,
The drive control unit in order to expose the massage ball through the opening,
Driving to move the massage ball module upward or downward through the Y-axis movement module to a height corresponding to the Y-axis coordinate of the opening,
Driving of moving the massage ball module to a position corresponding to the X-axis coordinate of the opening through the X-axis moving module, and
Exposing the massage ball through the opening by executing at least one of driving of moving the massage ball module forward on the Z axis through the Z-axis movement module,
Massage device. The method of claim 1,
The replacement position determining unit,
When the massage ball replacement command input is an automatic replacement command,
Determining the position of the massage ball module to the rear on the Z axis through the Z axis moving module,
Massage device. The method of claim 7,
The driving control unit,
When the position of the massage ball module is determined to be rear on the Z axis by the replacement positioning unit, the massage ball module is moved to the rear on the Z axis through the Z axis movement module, and then the mount bracket is rotated to perform massage. To replace the massage ball protruding in the direction,
Massage device. The method of claim 1,
The massage module,
It includes a tapping module that implements a tapping motion by orbiting the massage ball protruding in the massage direction,
The tapping module,
A link having one end coupled to the central axis of rotation of the mount bracket; And
Includes; a shaft penetrating through the hole formed at the other end of the link, and rotating about an eccentric axis eccentric with respect to the center of the hole
When the shaft rotates based on an eccentric axis, the arm is interlocked so that the massage ball fastened to the arm moves in orbit,
Massage device. The method of claim 1,
The massage ball module,
At least one is provided on the left and the right, respectively,
A left screw hole is included in a part of the left support bracket supporting the left massage ball module, and a right screw hole is included in a part of the right support bracket supporting the right massage ball module,
The X-axis movement module,
A shaft fastened to the left screw hole and the right screw hole, respectively, and having left and right threads having different directions of the threads,
When the shaft is rotated by an actuator, the left massage ball module and the right massage ball module move in opposite directions on the X axis,
Massage device. In the massage device,
A massage ball module in which a massage ball is fastened to each end of the arms extending in different directions from the mount bracket, and the massage ball protruding in a massage direction by rotating the mount bracket is replaced; And an X-axis moving module for moving the massage ball module on the X-axis, a Y-axis moving module for moving on the Y-axis, and a Z-axis moving module for moving on the Z-axis. Massage module comprising a; And
When receiving a massage ball replacement command, the massage module to replace the massage ball protruding in the massage direction by rotating the mount bracket after moving the massage ball module to the rear on the Z axis through the Z-axis moving module A control unit to control;
Containing,
Massage device.

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