KR20200062482A - Apparatus and method of massage including replaceable massage ball - Google Patents

Abstract

Disclosed are a massage apparatus capable of automatically or manually replacing massage balls and a method thereof. According to one embodiment of the present invention, a massage apparatus including a massage module having massage balls mounted thereon comprises: a replacement command determination unit receiving a massage ball replacement command and determining whether the received massage ball replacement command is an automatic or manual replacement command; a replacement position determination unit determining the position of the massage ball to replace the massage ball based on the massage ball replacement command; and an operation driving control unit controlling operation of the massage module in accordance with the determined position of the massage ball.

Description

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

The present disclosure relates to a massage device and method comprising a replaceable massage ball, and more particularly, to a massage device and method capable of automatically replacing a massage ball according to an instruction to replace a massage ball or manually replacing it.

Massage refers to the manipulation of a subject's body by applying various types of mechanical stimulation to a part of the body, such as handing, pressing, pulling, knocking, 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 the demand for massage has led to an increase in demand for a massage device or massage device that provides an artificial massage function for economic reasons and time reasons. That is, as the demand to relieve fatigue or stress while releasing the lumped muscles through massage increases, various massage devices in a time and cost-effective manner have been released. Any type of device, device or apparatus that performs massage without a separate masseur through a mechanical device is referred to as a massage device.

Furthermore, there is an increasing demand for users for a massage device that can improve health as well as relieve fatigue or stress by massaging.

Therefore, research has been continued to provide a massage device capable of enhancing a user's health.

Korean Patent Registration No. 10-0941919 provides a massage device for providing a massage capable of enhancing the user's health.

The present disclosure has been derived in correspondence with the above-described background, and it is a technical problem 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 problems is a massage device, in a massage device having a massage module equipped with a massage ball, the massage ball replacement command is received, and the received replacement command is an automatic replacement command or a manual replacement command A replacement order determining unit for determining cognition; A replacement position determining unit determining a position of the massage ball for replacing the massage ball based on the massage ball replacement command; And a driving control unit controlling the 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 for 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 above-mentioned effects, and other effects not mentioned may be clearly understood by those skilled in the art from the following description. .

Various aspects are now described with reference to the figures, in which like reference numerals are used collectively to refer to similar elements. In the following embodiments, 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 in order 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 view for explaining a main frame according to an embodiment of the present disclosure.
Figure 3 is a front view showing a state viewed from the front of the massage module according to an embodiment of the present disclosure.
4 is a view of a massage module according to an embodiment of the present disclosure viewed from the top side of the front.
5 and 6 is a rear view showing a state viewed from the rear of the massage module according to an embodiment of the present disclosure.
7 is a side view showing a state viewed from the side 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 on the Z axis of the massage ball module according to an embodiment of the present disclosure.
10 is a view for explaining an opening formed in at least a portion of the massage device to replace the massage ball according to an embodiment of the present disclosure.
11 is a view showing an example of a head cover covering an opening according to an embodiment of the present disclosure.
12 is a perspective view showing a partial configuration of a massage ball and a mount bracket designed to manually replace the massage ball according to an embodiment of the present disclosure.
13 is a perspective view for showing a case (d) for fixing the massage ball to the mount bracket and a case for detaching the massage ball from the mount bracket according to an embodiment of the present disclosure (e).
14 is a block diagram showing the configuration of a massage device capable of automatic replacement or manual self-replacement of a massage ball according to an embodiment of the present disclosure.
15 shows 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 flow charts for explaining an automatic replacement or manual self-replacement method of a massage ball according to an embodiment of the present disclosure.

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

Embodiments according to the concept of the present disclosure may be modified in various ways and have various forms, and thus, specific embodiments will be illustrated in the drawings and 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 should be understood that all modifications, 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 components, but the components are not limited to the terms. The above 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 referred to as the second component, and similar Thus, the second component may also be referred to as a first component.

When a component is said to be "connected" or "connected" to another component, it is understood that other components may be directly connected or connected to the other component, but may exist in the middle. It should be. On the other hand, when a component is referred to as being “directly connected” or “directly connected” to another component, it should be understood that no other component exists in the middle. Other expressions for describing the relationship between the components, such as "between" and "immediately between" or "adjacent to" and "directly adjacent to", should be interpreted similarly.

The terms used in this specification are only used to describe specific embodiments and are not intended to limit the present disclosure. Singular expressions include plural expressions unless the context clearly indicates otherwise. As used herein, the terms “include” or “have” are intended to indicate that a feature, number, step, action, component, part, or combination thereof described is present, one or more other features or numbers, It should be understood that the presence or addition possibilities of steps, actions, components, parts or combinations thereof are not excluded in advance.

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

In this specification, the 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 beat may mean specific types of audio information capable of controlling brain waves.

In the present specification, according to an embodiment, the massage device may refer to a massage device including a body massage part and a leg massage part. Further, according to another embodiment, the body massage unit 100 and the leg massage unit 300 may exist as separate devices (for example, a body massage device and a leg massage device), and the massage device may be a body massage Device or 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 the user's body, and the body massage unit 100 for massaging the user's body, and massaging 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 the user's body. The body massage unit 100 includes a massage module 1700 that provides a massage function to at least a part of the user's body, an audio output module 1600 for providing an audio output in any form to the user, and a body massage unit 100 It may include a main frame 1100 constituting the frame and a user input unit 1800 for receiving any type of input from the user.

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

In addition, the shape and structure of the massage device 1000 shown in FIG. 1 is merely exemplary, and various types of massage device 1000 are also disclosed, unless departing from the scope of rights defined by the claims of the present disclosure. It can be included within the scope of the content.

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

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

At least a portion of the body massage unit 100 may be slidably moved. For example, when the body massager 100 starts to massage, at least a part of the body massager 100 may slide forward. In addition, the body massage unit 100 may be inclined backward. As a result, the body massage unit 100 may provide massage in a state inclined backward.

According to an embodiment of the present disclosure, the massage device 1000 may include at least one air cell (not shown). The air cell may be located on the shoulder portion of the user, the pelvis portion, the arm massage portion, the leg massage portion 300, and the like, but is not limited thereto and may be disposed on various portions of the massage device 1000.

The massage device 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 in 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 the user. For example, the leg massage part 300 may include a calf massage part for massaging the user's calf and/or a foot massage part for massaging the user's foot.

The leg massage unit 300 may be adjustable in length according to a user's body characteristics. For example, when a tall user uses the massage device 1000, the length of the calf needs to be increased because the length of the calf is long. In addition, when a short user uses the massage device 1000, the length of the calf is short and the leg massage unit 300 needs to be shortened. 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 any form of mechanical stimulation 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 moves along the lek gear, and is mechanically applied to various parts of the user's body. It 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 the skeleton of the 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, etc., but is not limited thereto and may be implemented with various hard materials.

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

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

The massage device control device 2000 may include a remote controller, a cell phone, a PDA (Personal Digital Assistant), and the like, and is not limited thereto. It may include a variety of connectable electronic devices.

2 is a view for explaining 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 provided with a massage module 1700 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 movement of the body massage module 1700, and may include a plurality of valleys and a plurality of floors.

According to one embodiment of the present disclosure, the rack gear 1151 may be provided in opposite shapes on 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 meshed with the rack gear 1151, and the gear is rotated by an actuator provided in the body massage module 1700, so that the body massage module 1700 is It can move up or down.

The rack gear 1151 may be formed of 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, and the like, but is not limited thereto.

The upper frame 1150 may be implemented in various shapes. For example, the upper frame 1150 may be divided 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.

The S frame means a frame in which at least a portion of the upper frame 1150 includes a curved shape such as "S". The L frame means a frame in which at least a portion of the upper frame 1150 includes a curved shape like “L”, and the S&L frame includes a curved shape like “S” and a curved shape like “L”. Means, a double S&L frame means a frame including a curved shape like L" and a curved shape like "S" of two parts.

The base frame 1110 means a portion of the main frame 1100 supporting the upper frame 1150 and contacting 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 base upper frame 1111 may be positioned in contact with the base lower frame 1112.

According to an embodiment of the present disclosure, the base upper frame 1111 may move along the base lower 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. Can move. Due to this, sliding movement of the body massage unit 100 may be allowed.

Specifically, in order to allow the movement of the upper base frame 1111, a moving wheel may be provided below the base upper frame 1111. In addition, a guide member capable of guiding the moving wheel may be provided on the upper portion of the base lower frame 1112. The moving wheel provided on the base upper frame 1111 moves along the guide member provided on the base lower frame 1112, such that forward or backward movement of the base upper frame 1111 may be permitted.

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 divided into upper and lower frames.

3 is a front view showing a state in which the massage module according to an embodiment of the present disclosure is viewed from the front, and FIG. 4 is a view of a massage module according to an embodiment of the present disclosure as viewed from the top side of the front surface, 5 and 6 is a rear view showing a state in which the massage module according to an embodiment of the present disclosure is viewed from the rear, and FIG. 7 is a side view showing a state in which the massage module according to an embodiment of the present disclosure is viewed from the side 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 on the Z axis of the massage ball module 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 three-axis moving 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, and 703 and a mount bracket 710. The mount bracket 710 includes a plurality of arms extending in different directions, and the massage balls 701 to 703 may be fastened in a replaceable structure for each end of each arm.

A plurality of massage balls (701, 702, 703) may be provided with 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 massage. It may mean at least one of.

Arms extending in different directions from the mount bracket 710 may have the same length. In other embodiments, the lengths of the arms may be provided differently. 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 one embodiment, the gearbox 730 may be provided with a worm gear including shafts and teeth. The mount bracket 710 may be fixed by a worm gear so that it does not rotate during normal use or during massage. Specifically, only when the controller 1200 drives the actuator 730 to rotate the mount bracket 710, as the shaft of the worm gear rotates and the teeth engaged with the shaft rotate, the mount bracket 710 This can rotate. Conversely, the shaft cannot be rotated by the teeth, which is due to the structure of the worm gear that only the screw can move the wheel.

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

The three-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, 826, rack gear 1100, and 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 three-axis moving module moves the massage ball module 700 on at least one of the X-axis, Y-axis, and Z-axis, thereby securing the freedom of movement of the massage ball module 700, whereby Massage can be applied to large areas.

The massage ball module 700 may be provided with a plurality of spaced apart on the left and right sides based on the X axis, but the present disclosure shows an example provided on the left and right sides, respectively, and may not be limited thereto.

Referring to FIG. 6, 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 in each of the left and right massage ball modules 700. And can be combined by the structure of the worm gear as described above. Referring to FIG. 8, the mount bracket 710 may rotate 360 degrees relative to the center, and rotate clockwise or counterclockwise.

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

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

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 with the link 910, and a shaft 837 penetrating the middle and lower ends, respectively , 839) and connected to the Z-axis moving module 830 and fixed. Accordingly, the massage ball module 700 may be interlocked with driving of the Z-axis moving 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 to 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 is rotated clockwise by the actuator 838, the pinion gear 834 rotates clockwise, and the rack gear 836 engaged with the pinion gear 834 ) Is moved to the rear, whereby the massage ball module 700 may protrude forward on the Z axis. 9A shows a state in which the rack ball 836 protrudes forward on the Z axis while the rack gear 836 moves rearward.

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 on the Z axis of the Z-axis moving module 830 and the length of the arm extending from the mount bracket 710. Therefore, it may be possible to massage various parts. For example, the maximum length of the Z-axis projecting length of the Z-axis moving module 830 and using the longest arm of the arm of the mount bracket 710, massage to the thigh area may be possible through the massage module 1700. .

Conversely, when the shaft 832 is rotated counterclockwise by the actuator 838, the pinion gear 834 rotates counterclockwise, and the rack gear 836 engaged with the pinion gear 834 moves forward. Thus, the massage ball module 700 may be retracted backward on the Z axis. FIG. 9(B) shows a state in which the rack ball 836 moves forward, and the massage ball module 700 retracts rearward on the Z axis.

Here, when the massage ball module 700 is moved rearward on the Z axis, and the mount ball 710 is rotated to replace the massage ball, the massage ball module 700 is spaced rearwardly away from the user's back. Therefore, it is possible to prevent interference by the user's body when replacing the massage ball, and to reduce the torque required for rotation of the actuator.

Referring again 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 passing through the hole 922. The shaft 930 passes through the hole 922 from the center of the cross section of the hole 922 by a predetermined amount of eccentric bias. In addition, a sub-center (not shown) surrounding the circumference of the shaft 930 is provided inside the hole 922, and the sub-center can rotate by rotating the shaft 930 inside the hole 922.

Specifically, the middle of the shaft 930 passes through the bridge bracket 814, and the shaft 930 on the left passes through the left hole 922 based on the eccentric axis biased by a predetermined amount relative to the center, and the shaft on the right 930 may penetrate the right hole 922 based on the eccentric axis biased by a predetermined amount relative to the center.

When the shaft 930 repeats the 360-degree rotation inside the hole 922, the sub-center fitted to the shaft 930 rotates based on the eccentric shaft, whereby the sub-link 920 and the link 910 protrude and retract. You can make a move to repeat. As the link 910 repeatedly protrudes and retracts, the massage ball repeats protruding and retreating in the massage direction,

The massage ball may provide a tapping motion to the user's back.

On the other hand, the position of the eccentric shaft that is the axis of rotation of the shaft 930 in the left hole 922 and the eccentric axis 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, as the left and right massage balls repeatedly protrude and retreat at different positions based on the Z-axis line, the left massage ball and the right massage for the user's back The ball may protrude alternately.

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

The X-axis moving module 810 may include a shaft 812 provided with a lead screw structure symmetrically left and right to fit into the left screw hole and the right screw hole. In other words, the shaft 812 may include a left-hand thread fastening to the left screw hole and a right-hand thread fastening to the right screw hole. Here, the left threads and the right threads may have opposite directions of threads in opposite directions. Due to this structure, when the shaft 812 rotates in either 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 clockwise, the left massage ball module 700 and the right massage ball module 700 may move inwardly to each other on the X axis, and conversely, the shaft 812 may be halved. When rotating clockwise, the left massage ball module 700 and the right massage ball module 700 may move outwardly from each other on the X axis. The rotational direction of the shaft 812 and the moving direction of the massage ball module 700 are only examples, and may be set to the contrary.

The Y-axis movement module 810 may move the massage module 1700 in the upward or 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 the massage device to replace the massage ball according to an embodiment of the present disclosure, Figure 11 is a view of the 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 configured to expose a massage ball to at least a portion of a path of the massage ball module 700 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, or 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 by a retractable type by means such as a zipper or velcro.

When the opening 600 is provided as a method of omitting a part of the cover of the massage device 1000, as shown in FIG. 11, the head part of the massage device 1000 is used in a normal or massage providing mode except for a massage ball replacement. The opening 600 may be covered by the hinged head cover 610. 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 hinged to the massage device 1000 is illustrated, but the method in which the head cover 610 is combined may not be limited thereto.

In the present disclosure, an example in which openings 600 are formed on the left and right sides corresponding to the massage ball modules 700 respectively provided on the left and right sides is illustrated, but the number, shape, and method of forming the openings 600 are described. It may not be limited. In addition, although FIG. 10 illustrates an example in which the opening 600 is formed in a portion corresponding to the head of the massage device 1000, the present invention is not limited thereto, and at least one of the top or bottom of the path through which the massage module 1700 moves is shown. It may be provided on the site. In addition, the opening 600 may be provided at an upper portion or a lower portion that does not belong to the moving range of the massage module 1700 in a normal massage state. Thereby, the user's access to the opening 600 for replacing the massage ball and the replacement of the massage ball can be facilitated.

10(b) illustrates a state in which the massage ball is exposed through the openings 600 on the left and right sides 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, and is only exposed. It might be.

10(b), when the massage ball is replaced while the massage balls 701 to 703 protrude through the opening 600, the massage balls 701 to 703 do not protrude and the massage ball is exposed only. Compared to the case of replacing, there is an advantage that can reduce the inconvenience caused by leakage of the massage ball. 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 do not protrude and the massage balls 701 to 703 are exposed only. ) Is replaced and the massage balls 701 to 703 are dropped to the inner floor of the massage device 1000 because the massage balls 701 to 703 are missed due to a user's mistake or the like, and the entire cover of the massage device 1000 is removed. Discomfort to be caused will occur. On the other hand, if the massage balls 701 to 703 are replaced while the massage balls 701 to 703 are exposed through the opening 600, the massage balls 701 to 703 are massaged even if the massage balls 701 to 703 are missed. Since it will fall to the outside of the device 1000 cover, there is an advantage that can be easily found even if the massage ball is lost.

10(c) illustrates a side cross-section in a state in which massage balls 701 to 703 are exposed through the left opening 600 according to an embodiment of the present disclosure. As shown in FIG. 10(c), the 3-axis moving module moves the massage ball module 700 upward or downward through the Y-axis moving module to expose the massage balls 701 to 703 through the opening 600. Driving to move to a height corresponding to the Y-axis coordinate of 600, driving and Z-axis moving module 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 Through at least one of the driving to move the massage ball module 700 forward on the Z axis can be executed. As described above, in order to move to a position for replacing the massage balls 701 to 703, 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 a partial configuration of a massage ball and a mount bracket designed to manually 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 for showing the case where it is fixed to the mount bracket and the case where the massage ball is detached from the mount bracket.

Referring to FIG. 12, the ends 711 of arms extending in different directions from the mount bracket 710 are fixed shaft 712, pin 713, spring 716, fixing ball 714 and 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 mortar-type pin, which is a pressing member on one side. Hereinafter, a portion having a relatively bulging circumference of the pin 713 may be referred to as a bulging member and a portion having a relatively thin circumference of the pin 713 may be referred to as a concave member.

The spring 716 is inserted into the fixed shaft 712 of the arm so that the ball 714 for fixing is normally projected to the outside of the ball opening of the fixed shaft 712 by an elastic force. 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 the form of a cylinder that fits inside the hole passing through the massage ball 701, and may include a second groove formed therein along the longitudinal direction. A fixed shaft 712 may be fitted into the second groove. A second hole 725 penetrating the second groove may be included in at least a part of the circumference of the side surface of the bushing 715.

Here, the diameter of the second hole 725 is formed 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 spans 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 An example of the case of detaching from the fixed shaft 712 is shown.

13( d) shows a state in which the massage ball 701 is fixed to the end 711 of the arm.

12 and 13 (d), the outer circumference of the bushing 715 is fitted 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 fixed shaft ( 712). At this time, the fixing ball 714 is fitted into the hole 725, one surface of the fixing ball 714 is in contact with the bulging member of the pin 713 of the mortar, and the other surface of the fixing ball 714 is a hole ( 725).

Conversely, as shown in FIG. 13(e), when pressing the exposed pressing member of the pin 713 to press it, the concave member portion of the pin 713 can move to the position where the fixing ball 714 is located. . Thereby, the fixing ball 714 can be pulled 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 fitted in 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 again inserted into the structure as shown in FIG. 13(d).

According to one embodiment of the present disclosure as described above, the massage ball can be manually self-exchanged through an opening provided in at least a part of the massage device, thereby maximizing the diversity of the size and physical properties of the massage ball, It has the effect of diversifying the combination of massage balls.

14 is a block diagram showing 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, the 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 it may include at least one of the user input unit 1700.

The control unit 1200 may control the operation of the massage device 1000. The controller 1200 may be implemented by a single processor, or may be implemented by a plurality of processors. When the controller 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 the 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 can 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. It may include, the control unit 1200 may control the operation of the massage device 1000 by controlling them.

The massage module movement actuator is an actuator that enables vertical movement of the massage module 1700, and the massage module 1700 may move along the lek gear by the operation of the massage module 1700 movement actuator.

The back angle actuator is an actuator that adjusts an angle of a portion of the massage device 1000 where a user's back abuts, and the isometric angle of the massage device 1000 may 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 300 of the massage device 1000, and the angle between the leg massage part 300 and the body massage part 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. The massage device 1000 may provide a foot massage to the user by utilizing the foot massage actuator.

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

By operating at least one actuator, a knock massage, a hand massage, and the like can be provided, and various massage motions are not limited thereto.

The leg length adjustment actuator represents an actuator that adjusts the length of the leg massage unit 300. For example, the controller 1200 may adjust the length of the leg massager 300 to suit the user by utilizing the leg length adjustment actuator, and as a result, the user may be provided with a massage suitable for the body shape.

The sliding actuator enables a sliding operation of the massage device 1000. For example, the horizontal base upper frame 1114a may move forward or backward by the operation of the sliding actuator, 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 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, and the like, but is not limited thereto.

Also, 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, body composition information, and the like, and may include various biometric information.

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

The user input unit 1800 may receive a command related to motion control of the massage device 1000 from the 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 and may be provided in the leg massage unit 300, but is not limited thereto.

The massage device 1000 may acquire various commands from the user through the user input unit 1800. For example, the massage device 1000 may select a massage module, select a massage type, select a massage intensity, select a massage time, select a massage area, select a position and motion of the body massage unit 100, massage The device 1000 may receive an arbitrary command for selection of On-Off of power, selection of whether to operate the warming function, selection related to sound source reproduction, etc., but is not limited thereto.

The massage device 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 device 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, an examinee mode, a weightless mode, and a growth mode.

In particular, the user input unit 1800 according to an embodiment of the present disclosure may receive a command to replace a massage ball. 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 on the control device 2000.

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

The user input unit 1800 may be implemented as a key pad, a dome switch, a touch pad (static pressure/blackout), a jog wheel, a jog switch, and the like, but is not limited thereto. In addition, the user input unit 1800 may acquire a command through a user's speech based on a voice recognition technology.

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

The audio output module 1600 may provide any type of audio output to the 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 the massage pattern provided from 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 under the control of the user terminal 2000 through the user terminal 2000 and a network connection (eg, Bluetooth connection, etc.). Further, the audio output module 1600 may output any type of sound signal generated in relation to the operation of the massage device 1000.

The massage device 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 device 1000, an external massage device, and/or a user terminal 2000 through any type of network. The network connection unit 1400 may include a wired/wireless connection module for network connection. With wireless access technology, for example,

Wireless LAN (WLAN) (Wi-Fi), Wireless broadband (Wibro), World Interoperability for Microwave Access (Wimax), and High Speed Downlink Packet Access (HSDPA) may be used. As a wired connection technology, for example, Digital Subscriber Line (XDSL), Fibers to the home (FTTH), or Power Line Communication (PLC) may be used. In addition, the network connection unit may transmit and receive data with any device/terminal located at a short distance, including a short range communication module. For example, Bluetooth, Bluetooth (Radio Frequency Identification), IR (Infrared Data Association), UWB (Ultra Wideband), ZigBee, etc. may be used as short range communication technology. It is not limited.

The storage unit 1500 may store various information related to the massage device 1000. For example, the storage 1500 may include massage control information, personal authentication information, and the like.

The storage unit 1500 according to an embodiment of the present disclosure may store attribute information regarding a plurality of massage balls currently mounted on the mount bracket 710, and may store information regarding the current location 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, and may also be expressed as coordinate values expressed in 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 on the X-axis, Y-axis, and Z-axis, respectively, and a method of expressing the position of the massage ball module 700 It may not be limited to this.

Also, 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 massage ball replacement plan 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 disk, an optical disk, and a magneto-optical storage device, as well as a storage device based on flash memory and/or battery-backed memory. Does not work.

Also, the storage 1500 may include a memory. Memory is the primary storage device directly accessed by the processor, such as dynamic random access memory (DRAM), static random access memory (SRAM), and so on. It may mean a volatile storage device erased by, but is not limited to these. The 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 determination unit 1210, a replacement location determination unit 1220, and a driving control unit 1230. have.

The replacement command determining 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 a replacement command determining unit 1210 receives a massage ball replacement command, it may determine whether the replacement command is an automatic replacement command or a manual replacement command based on whether a user is seated at the massage device 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 replacement is performed. It can be determined that the command is a manual replacement command.

Here, whether or not the user is seated in the massage device 1000 may be determined through a sensor or the like provided in at least a portion of the seating portion of the massage device 1000, and is not limited to this. Other methods can be employed.

As another embodiment, the replacement command determination unit 1210 may determine whether the automatic replacement command or the manual replacement command is based on the massage ball replacement command input by the user. For example, the massage device 1000 may provide the user with an interface for selecting an automatic replacement command or a manual replacement command, and the user may select from among massage balls currently mounted on the mount bracket 710 in response to the provided interface. You can enter a command to choose whether to replace the massage ball (automatic replacement command) or to remove the massage ball currently mounted on the mount bracket 710, and to manually replace the massage ball 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 may determine whether the voice command indicates an automatic replacement command or a manual replacement command It may be determined whether the received voice command is an automatic replacement command or a manual replacement command.

15 shows an example of an interface through which the user can intuitively input a massage ball replacement command through the control device 2000. As shown in FIG. 15, the interface displayed on the control device 2000 is a screen 1500 for selecting whether to execute a massage ball replacement, a screen 1501 for manual self-replacement or automatic replacement selection, and a composite when selecting automatic replacement. It may include a screen 1502 for selecting a massage ball or a single massage ball, and a screen 1503 for selecting a massage ball size when selecting a single massage ball. Here, the selection of the composite massage ball may mean a selection for 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 a selection of using only one massage ball selected by a user. Such an execution screen is only an example, and the execution example may not be limited thereto.

Then, in the interface for inputting a massage ball replacement command, the control device 2000 may display information of the massage balls 701 to 703 currently mounted on the mount bracket 710. For example, information on properties including images of the massage balls 701 to 703 currently mounted on the mount bracket 710, and the size and physical properties of each massage ball may be displayed through the display of the control device 2000. The user may directly select a rotation direction of the mount bracket 710 or a location of a 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 driving of the massage module 1700 based on the position of the massage ball determined by the replacement positioning unit 1220.

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

When the replacement position of the massage ball is determined as the opening 600, the driving control unit 1230 moves the massage ball module 700 upward or downward through the Y-axis moving module 820 to the Y-axis coordinates of the opening 600. Driving to move to a corresponding height, driving to move the massage ball module 700 to a position corresponding to the X-axis coordinates 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 performing 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 a 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 in which the massage ball module 700 moves by at least one of the X-axis moving module 810, the Y-axis moving module 820, and the Z-axis moving module 830 will be described in detail with reference to FIGS. 3 to 9 above. As described above.

On the other hand, the replacement position determining unit 1220 may determine the replacement position of the massage ball module through the Z-axis moving module 830 in the Z axis rearward when the input of the massage ball replacement command is determined to be an automatic replacement command.

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

As described above, when the user is seated in the massage device 1000, the massage module 1700 is moved rearward on the Z axis to replace the massage ball, thereby preventing interference by the user's body or the cover of the massage device 1000. It is possible to reduce the torque required for the rotation of the actuator.

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

16 is a flowchart illustrating an automatic replacement or manual self-replacement method of a massage ball according to an embodiment of the present disclosure.

Referring to Figure 16, the automatic replacement or manual self-replacement method of the 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 Whether it is a replacement command or a manual replacement command may be determined (S120 ).

As an embodiment, it may be determined whether the user-entered massage ball replacement command 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 a user is seated at the massage device 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, whereas 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 for determining the massage ball replacement command, the replacement command determining unit 1210 has been described in detail above.

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

Next, after exposing the massage ball through the opening, the massage device 1000 may complete the manual replacement mode of the massage ball when a signal for manual replacement of the massage ball is input (S140 ). The method for 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. There is one bar.

On the other hand, when the massage ball replacement command is determined to be an automatic replacement command, the massage device 1000 may replace the massage ball protruding in the massage direction by moving the massage ball backward on the Z axis and rotating the mount bracket. (S150). The method for 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 by the user's input described above, but the massage device 1000 itself executes to replace the properties of the massage ball according to the user's body part, and the properties are different according to the pattern of the massage mode. It may also be performed by default by replacing the massage ball or by executing a plurality of massage balls to alternately or sequentially protrude.

Those skilled in the art will appreciate that the present invention can be implemented in combination with other program modules and/or as a combination of hardware and software. For example, the present invention can be embodied by a computer-readable medium.

Any computer-accessible medium can be any computer-readable medium, such computer-readable media being volatile and non-volatile media, transitory and non-transitory media, removable and non- 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 are volatile and non-volatile media, temporary 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 media. Computer-readable storage media may include RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital video disk (DVD) or other optical disk storage device, magnetic cassette, magnetic tape, magnetic disk storage device or other magnetic storage Device, or any other medium that can be accessed by a computer and used to store desired information.

Computer readable transmission media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and Includes all information delivery media. The term modulated data signal means a signal in which one or more of the characteristics of the signal are set or changed to encode information in the signal. By way of example, and not limitation, computer readable transmission media includes 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 can provide a variety of exemplary logic blocks, modules, processors, means, circuits and algorithm steps described in connection with the embodiments disclosed herein, electronic hardware, (convenience For the sake of understanding, it may be implemented by various forms of program or design code (referred to herein as “software”) or a combination of both. 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. Those skilled in the art of the present invention may implement the functions described in various ways for each specific application, but such implementation decisions should not be interpreted as being outside the scope of the present invention.

Various embodiments presented herein can be implemented as a method, apparatus, or article of manufacture using standard programming and/or engineering techniques. The term “manufactured article” includes a computer program, carrier, or media accessible from any computer-readable device. For example, computer-readable storage media include magnetic storage devices (eg, hard disks, floppy disks, magnetic strips, etc.), optical disks (eg, CDs, DVDs, etc.), smart cards, and flashes. Memory devices (eg, EEPROMs, cards, sticks, key drives, etc.), but are not limited to these. The term “machine-readable medium” includes, but is not limited to, wireless channels and various other media capable of storing, retaining, and/or transferring command(s) and/or data.

It is understood that the specific order or hierarchy of steps in the processes presented is an example of exemplary approaches. Based on design priorities, it is understood that within the scope of the present invention, a specific order or hierarchy of steps in the processes may be rearranged. The accompanying 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 of ordinary skill in the art to use or practice the present invention. Various modifications to these embodiments will be apparent to those skilled in the art of the present invention, 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 should not be limited to the embodiments presented herein, but should be interpreted in the broadest scope consistent with the principles and novel features presented herein.

Claims (10)

In the massage device having a massage module equipped with a massage ball,
A replacement command determining unit that receives a massage ball replacement command and determines whether the received replacement command is an automatic replacement command or a manual replacement command;
A replacement position determining unit determining a position of the massage ball for replacing the massage ball based on the massage ball replacement command; And
A driving control unit controlling driving of the massage module according to the determined position of the massage ball;
Containing,
Massage device. According to claim 1,
The massage module,
A massage ball module in which a massage ball is fastened to each end of arms extending in different directions from the mount bracket, and the massage ball protruding in a direction to massage by rotating the mount bracket is replaced; And
A three-axis moving module including 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;
Containing,
Massage device. According to claim 2,
The massage device,
And an opening for exposing the massage ball to at least a portion of a cover of the massage device adjacent to a path in which the massage ball module moves. The method of claim 3,
The replacement order determining unit,
Upon receiving the massage ball replacement command, determine whether the replacement command is an automatic replacement command or a manual replacement command based on whether a user is seated at the massage device,
Determine whether the user-entered massage ball replacement command is an automatic replacement command or a manual replacement command,
Massage device. The method of claim 4,
The replacement position determining unit,
If the input of the massage ball replacement command is a manual replacement command, determining a position where the massage ball is exposed by the opening as a replacement position,
Massage device. The method of claim 5,
The driving control unit to expose the massage ball through the opening,
Driving to move the massage ball module upward or downward through the Y-axis moving module to move to a height corresponding to the Y-axis coordinates of the opening,
Driving to move the massage ball module to the position corresponding to the X-axis coordinates of the opening through the X-axis moving module and
Exposing the massage ball through the opening by performing at least one of driving to move the massage ball module forward on the Z axis through the Z-axis moving module,
Massage device. According to claim 2,
The replacement position determining unit,
When the input of the massage ball replacement command is an automatic replacement command,
Determining the position of the massage ball module through the Z-axis movement module on the Z-axis rear,
Massage device. The method of claim 7,
The driving control unit,
When the position of the massage ball module is determined on the Z-axis rearward by the replacement positioning unit, the massage ball module is moved rearward on the Z-axis through the Z-axis moving module, and then rotated to mount the bracket. Replacing the massage ball protruding in the direction,
Massage device. According to claim 2,
The massage module,
It includes a tapping module that implements a tapping motion by orbiting a massage ball protruding in a massage direction,
The tapping module,
A link having one end coupled to a central rotational axis of the mount bracket; And
It includes a shaft that passes through a hole formed at the other end of the link, and rotates around an eccentric axis eccentric with respect to the center of the hole.
When the shaft rotates with respect to the eccentric shaft, the arms interlock, and the massage ball fastened to the arms orbits,
Massage device. According to claim 2,
The massage ball module,
At least one on each of the left and right sides,
A part of the left support bracket supporting the left massage ball module includes a left screw hole, and a part of the right support bracket supporting the right massage ball module includes a right screw hole,
The X-axis moving module,
The shaft is formed in the left and right threads, which are fastened to the left and right screw holes, respectively, and have different directions of 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.

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