KR20230141439A - Massage apparatus including alignment function for leg massage part and control method thereof - Google Patents

Abstract

According to an embodiment of the present invention, a massage device comprises: a leg massage portion including a first leg massage portion for massaging one leg of a user and a second leg massage portion for massaging the other leg of the user; an alignment sensor portion including a light emitting sensor provided in the first leg massage portion and a light receiving sensor provided in the second leg massage portion to receive a signal from the light emitting sensor; and a control portion controlling the first leg massage portion, the second leg massage portion and the alignment sensor portion. The first leg massage portion and the second leg massage portion are provided to be independently rotatable. The control portion can control alignment between the first leg massage portion and the second leg massage portion based on the signal received from the light receiving sensor. Accordingly, a massage required for each leg of the user can be provided.

Description

Massage device including leg massage part alignment function and control method thereof {MASSAGE APPARATUS INCLUDING ALIGNMENT FUNCTION FOR LEG MASSAGE PART AND CONTROL METHOD THEREOF}

The present invention relates to a massage device that includes a leg massage unit alignment function and a control method thereof, and more specifically, to a massage device that can control the alignment of a leg massage unit that can move independently and a control method thereof.

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

The increase in demand for massage has caused an increase in demand for massage devices that provide artificial massage functions due to economic and time reasons. As the demand for relieving fatigue or stress by relaxing tense muscles through massage increases, various massage devices that are efficient in terms of time and cost are being released.

Recently, people's interest in health has increased, and massage devices are changing from simply providing massage functions to electronic devices that provide various additional functions and/or medical functions. Accordingly, research on how to efficiently control massage devices continues.

In particular, since each user may have different areas of interest and desired stimulation, research activities on devices and methods that provide an optimized type of massage for each user are increasing.

As an example of this, in Korean Patent Publication No. 10-2020-0100561, it is divided into a first leg massage part that accommodates the right leg and a second leg massage part that accommodates the left leg, and the first leg massage part and the second leg massage part. An example of an independently driven massage device is disclosed.

Meanwhile, in the case of independently driven leg massage units, since the leg massage units are driven independently, if the alignment of each leg massage unit is not correct, it may cause discomfort to the user and there is a problem in that massage cannot be performed effectively.

Therefore, there is a need for research on a massage device that can control the alignment of the independently driven leg massage unit.

The problem to be solved by the present invention is to provide a massage device in which leg massage units corresponding to both legs operate individually.

In addition, the problem to be solved by the present invention is to provide a massage device that can control the alignment of individually operated leg massage parts.

However, the problem to be solved by the present invention is not limited to the problems described above, and includes problems that can be easily understood by those skilled in the art from this specification and the attached drawings.

A massage device according to an embodiment of the present invention includes a leg massage unit including a first leg massage unit for massaging one leg of a user and a second leg massage unit for massaging the other leg of the user; an alignment sensor unit including a light emitting sensor provided in the first leg massage unit and a light receiving sensor provided in the second leg massage unit and receiving a signal from the light emitting sensor; and a control unit that controls the first and second leg massage units and the alignment sensor unit, wherein the first leg massage unit and the second leg massage unit are rotatable independently, and the control unit includes the light receiving sensor. The alignment between the first leg massage unit and the second leg massage unit can be controlled based on a signal received from.

In the massage device according to an embodiment of the present invention, when the first leg massage unit and the second leg massage unit simultaneously rise or fall simultaneously toward the target coordinates, the control unit maintains signal reception from the light receiving sensor. The speed of the first leg massage unit and the second leg massage unit can be maintained.

In the massage device according to an embodiment of the present invention, when the first leg massage unit and the second leg massage unit simultaneously ascend or descend simultaneously toward the target coordinates, the control unit, if a signal is not received by the light receiving sensor, , the speed of either the first leg massage unit or the second leg massage unit may be reduced.

In the massage device according to an embodiment of the present invention, the control unit controls the first leg massage unit and the second leg massage unit when a signal is received by the light receiving sensor before the first leg massage unit and the second leg massage unit reach the target coordinates. and the speed of the second leg massage unit may be matched.

In the massage device according to an embodiment of the present invention, when the angle between the first and second leg massage units increases, the control unit reduces the speed of one of the first leg massage unit and the second leg massage unit. The speed of one can be increased, but the speed of the other can be slowed down.

In the massage device according to an embodiment of the present invention, the control unit massages the first leg when a signal is received by the light-receiving sensor before the first leg massage unit and the second leg massage unit reach the target coordinates. The speeds of the second leg massage unit and the second leg massage unit may be matched.

In the massage device according to an embodiment of the present invention, the control unit continues until a signal is received by the light-receiving sensor when either the first leg massage unit or the second leg massage unit reaches the target coordinates. One can raise or lower the other.

In the massage device according to an embodiment of the present invention, the control unit sets one of the first leg massage unit and the second leg massage unit to a target coordinate in a state where the first leg massage unit and the second leg massage unit are crossed. When one descends toward and the other ascends toward the target coordinates, the one that reached the target coordinates first can be stopped, and the other can be raised or lowered until a signal is received by the light receiving sensor.

In the massage device according to an embodiment of the present invention, the control unit determines the rotation angle and rotation speed of the first leg massage unit and the second leg massage unit from an encoder connected to the first leg massage unit and the second leg massage unit. At least one piece of information can be received.

In the massage device according to an embodiment of the present invention, the control unit may determine the coordinates of the first leg massage unit and the second leg massage unit based on information received from the encoder.

A method of controlling the leg massage unit of a massage device according to another embodiment of the present invention includes simultaneously raising or lowering the first leg massage unit and the second leg massage unit toward target coordinates; and determining whether a signal from a light-emitting sensor provided in the first leg massage unit is received by a light-receiving sensor provided in the second leg massage unit, and when a signal is received by the light-receiving sensor, the first leg massage unit Maintaining the speed of the first leg massage unit and the second leg massage unit, and reducing the speed of any one of the first and second leg massage units when a signal is not received by the light receiving sensor. .

In the method of controlling the leg massage unit of the massage device according to another embodiment of the present invention, when the speed of any one of the first and second leg massage units is reduced, the first leg massage unit and the second leg massage unit are If a signal is received by the light receiving sensor before reaching the target coordinates, the method may further include matching the speeds of the first leg massage unit and the second leg massage unit.

In the method of controlling the leg massage unit of the massage device according to another embodiment of the present invention, when the speed of any one of the first and second leg massage units is reduced, if the angle between the first and second leg massage units increases, The method may further include increasing the speed of one of the first leg massage unit and the second leg massage unit, while reducing the speed of the other one.

In the method of controlling the leg massage unit of the massage device according to another embodiment of the present invention, if a signal is received by the light receiving sensor before the first leg massage unit and the second leg massage unit reach the target coordinates, the first leg massage unit It may further include matching the speed of the massage unit and the second leg massage unit.

In the method of controlling the leg massage unit of the massage device according to another embodiment of the present invention, when the speed of any one of the first and second leg massage units is slowed, one of the first leg massage unit and the second leg massage unit When one reaches the target coordinates, the other can be raised or lowered until a signal is received by the light receiving sensor.

A method of controlling the leg massage unit of a massage device according to another embodiment of the present invention includes, in a state where the first leg massage unit and the second leg massage unit are crossed, one of the first leg massage units descends toward the target coordinate, and the other One step is to ascend towards the target coordinates; and stopping one of the first leg massage unit and the second leg massage unit that reached the target coordinates first, and raising or lowering the other one until a signal is received by the light receiving sensor. You can.

In the massage device according to an embodiment of the present invention, the leg massage unit operates individually to provide necessary massage to each leg of the user.

Additionally, the massage device according to an embodiment of the present invention can control the alignment of individually operated leg massage units.

The effects that can be obtained from the present disclosure are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. .

1 is a diagram for explaining a massage device according to an embodiment of the present invention.
Figure 2 is a diagram for explaining a main frame according to an embodiment of the present invention.
Figure 3 is a diagram for explaining the detailed configuration of a massage device according to an embodiment of the present invention.
Figure 4 is a diagram showing an external device capable of communicating with a massage device according to an embodiment of the present invention.
FIG. 5 is a diagram illustrating the individual rotation of the leg massage unit in the massage device according to an embodiment of the present invention.
Figure 6 is a diagram for explaining the principle of rotation of the leg massage unit of Figure 5.
Figure 7 is a diagram showing a state in which the leg massage unit is connected to the leg connection frame according to an embodiment of the present invention.
FIG. 8 is a cross-sectional view taken along line A-A' of FIG. 7.
Figure 9 is a cross-sectional view taken along line BB' in Figure 7.
FIG. 10A is a diagram showing a shaft connected to a center support bracket and a side support bracket according to an embodiment of the present invention, and FIG. 10B is a diagram showing the center rotation member rotated.
Figure 11 is a schematic plan view of Figure 10.
FIG. 12A is a cross-sectional view taken along line C-C' of FIG. 10, and FIG. 12b is a cross-sectional view taken along line C-C' of FIG. 10 according to another embodiment of the present invention.
FIG. 13A is a diagram showing a center support bracket according to another embodiment of the present invention, and FIG. 13B is a diagram showing a center support bracket according to another embodiment of the present invention.
Figures 14 (a) and (b) show the process of fastening the center bushing to the center support bracket, and Figures 14 (c) and (d) show the process of fastening the side bushing to the side support bracket. It is a drawing.
Figure 15 is an enlarged view of portion D of Figure 7.
Figure 16 is a diagram showing a disassembled state of the safety sensor module according to an embodiment of the present invention.
Figure 17 is a diagram showing another embodiment of a safety sensor module according to an embodiment of the present invention.
Figures 18 (a) and (b) are diagrams showing a process in which a safety sensor module is driven according to an embodiment of the present invention.
Figure 19 is a diagram illustrating an alignment sensor provided in a leg massage unit according to an embodiment of the present invention.
Figure 20 is a flowchart of aligning the leg massage part of the massage device according to an embodiment of the present invention.
Figure 21 is a flowchart of the alignment of the leg massage part of the massage device according to another embodiment of the present invention.
Figure 22 is a flowchart of alignment of the leg massage part of the massage device according to another embodiment of the present invention.

Advantages and features of the disclosed embodiments and methods for achieving them will become clear by referring to the embodiments described below in conjunction with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below and may be implemented in various different forms. The present embodiments are merely provided to ensure that the present disclosure is complete and to those skilled in the art to which the present disclosure pertains. It is only provided to fully inform the user of the scope of the invention.

Terms used in this specification will be briefly described, and the disclosed embodiments will be described in detail.

The terms used in this specification are general terms that are currently widely used as much as possible while considering the function in the present disclosure, but this may vary depending on the intention or precedent of a technician working in the related field, the emergence of new technology, etc. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the relevant invention. Therefore, the terms used in this disclosure should be defined based on the meaning of the term and the overall content of the present invention, rather than simply the name of the term.

In this specification, singular expressions include plural expressions, unless the context clearly specifies the singular. Additionally, plural expressions include singular expressions, unless the context clearly specifies plural expressions.

When it is said that a part "includes" a certain element throughout the specification, this means that, unless specifically stated to the contrary, it does not exclude other elements but may further include other elements.

Additionally, the term “unit” used in the specification refers to a software or hardware component, and the “unit” performs certain roles. However, “wealth” is not limited to software or hardware. The “copy” may be configured to reside on an addressable storage medium and may be configured to run on one or more processors. Thus, as an example, “part” refers to software components, such as object-oriented software components, class components, and task components, processes, functions, properties, procedures, Includes subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functionality provided within the components and “parts” may be combined into smaller numbers of components and “parts” or may be further separated into additional components and “parts”.

According to one embodiment of the present invention, “unit” may be implemented with a processor and memory. The term “processor” should be interpreted broadly to include general purpose processors, central processing units (CPUs), microprocessors, digital signal processors (DSPs), controllers, microcontrollers, state machines, etc. In some contexts, “processor” may refer to an application-specific integrated circuit (ASIC), programmable logic device (PLD), field programmable gate array (FPGA), etc. The term “processor” refers to a combination of processing devices, for example, a combination of a DSP and a microprocessor, a combination of a plurality of microprocessors, a combination of one or more microprocessors in combination with a DSP core, or any other such combination of configurations. It may also refer to

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

In this specification, an actuator refers to a configuration that can provide driving force. For example, the actuator may include, but is not limited to, a motor, linear motor, electronic motor, DC motor, AC motor, linear actuator, electric actuator, etc.

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

Below, with reference to the attached drawings, embodiments will be described in detail so that those skilled in the art can easily implement the present invention. In order to clearly explain the present invention in the drawings, parts unrelated to the description are omitted.

1 is a diagram showing a massage device according to an embodiment of the present invention.

The massage device 1000 according to an embodiment of the present invention forms an area for receiving at least a portion of the user's body, supports the user's body (e.g., body), and massages the portion of the user's body. It may include a massage unit that performs massage.

The massage unit includes at least one of a body massage unit 1100 for massaging at least part of the user's body, an arm massage unit 1200 for massaging the user's arms, and a leg massage unit 1300 for massaging the user's legs. It can be included.

The body massage unit 1100 can massage at least a portion of the user's body. For example, the body massage unit 1100 may massage at least a portion of at least one of the user's upper body and lower body.

Specifically, the body massage unit 1100 includes a massage module 1110 for providing a massage function to at least a portion of the user's body, an audio output module 1120 for providing an arbitrary form of audio output to the user, and a body massage unit. It constitutes the framework of 1100 and may include a main frame 1130 that supports the user's body and a user input unit 1140 for receiving any type of input from the user.

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

In addition, the shape and structure of the massage device 1000 shown in FIG. 1 are merely exemplary, and as long as they do not deviate from the scope defined by the claims of the present invention, various types of massage device 1000 may also be used according to the present invention. It may be included within the scope of the content.

The body massage unit 1100 can form a space of any shape to accommodate the user. The body massage unit 1100 may be provided with a space that has a shape corresponding to the shape of the user's body. For example, as shown in FIG. 1 , the body massage unit 1100 is implemented as a seated type that can accommodate the user's entire body or a portion of the body and can support at least a portion of the user's body. For example, the body massage unit 1100 may include a backrest portion that supports at least a portion of the user's upper body and a seat portion that supports at least a portion of the user's lower body.

The portion in contact with the ground in the body massage unit 1100 may include any material for increasing friction or any member for increasing friction (for example, an anti-slip pad, etc.), and the massage device 1000 It may include wheels to enhance its mobility.

At least a portion of the body massage unit 1100 may slide. For example, when the body massage unit 1100 starts a massage (or when the body massage unit 1100 is driven), at least a portion of the body massage unit 1100 may slide forward. Additionally, the body massage unit 1100 may be tilted backward. As a result, the body massage unit 1100 can provide massage while tilted backward. For example, the massage device 1000 may include an actuator that tilts the massage device 1000 (or the body massage unit 1100) toward the rear of the massage device 1000 (or the body massage unit 1100). The massage device 1000 can tilt the body massage unit 1100 or restore it to its original state by driving the above-described actuator. At this time, the actuator may be disposed in at least a part (eg, base frame) of the massage device.

According to one embodiment of the present invention, the massage device 1000 may include at least one air cell (not shown). The air cell is at least one area of the body massage unit 1100 (e.g., at least one of the area corresponding to the user's shoulder, the area corresponding to the pelvis, and the area corresponding to the waist among the entire area of the body massage unit 1100). , may be located in at least one of at least a partial area of the arm massage unit 1200 and at least a partial area of the leg massage unit 1300, but is not limited thereto and may be placed in various parts 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 1100 and may be located in the leg massage unit 1300. Additionally, the air supply unit may be located outside the massage device 1000.

The massage module 1110 may be provided inside the body massage unit 1100 to provide any type of mechanical stimulation to the user accommodated in the body massage unit 1100. As shown in FIG. 1, the massage module 1110 can move along the main frame 1130 provided inside the body massage unit 1100. The massage module 1110 may massage at least a portion of the user's body while moving along the main frame 1130.

The main frame 1130 of the body massage unit 1100 may be equipped with a rack gear 1131a, and the massage module 1110 may provide mechanical stimulation to various parts of the user's body while moving along the rack gear. there is. For example, the massage module 1110 may massage the user's body by tapping or massaging at least one of the user's back, shoulders, waist, hips, and thighs. The massage module 1110 may include at least one massage unit among a ball massage unit and a roller massage unit, but is not limited thereto.

The main frame 1130 constitutes the framework of the internal structure of the body massage unit 1100 and may be made of metal or plastic. For example, the main frame 1130 may be made of iron, alloy, steel, etc., but is not limited to this and may be made of various hard materials.

The audio output module 1120 may be installed in various locations. For example, the audio output module 1120 includes a top audio output unit disposed on the top of the seat in contact with the user, a front audio output unit attached to the front of the arm massage unit 1200 on the left and right sides of the seat, and/or an arm massage unit. (1200) It may include a plurality of output units, such as a rear audio output unit attached to the rear, but is not limited to this. In this case, the audio output module 1120 can provide three-dimensional sound such as 5.1 channel, but is not limited to this.

The arm massage unit 1200 may be disposed on at least one of one side and the other side of the body massage unit 1100. For example, the arm massage unit 1200 is disposed on one side of the body massage unit 1100 to massage one arm of the user, and the first arm massage unit 1210 is disposed on the other side of the body massage unit 1100. It may include at least one of the second arm massage units 1230 that massage the user's other arm. The first arm massage unit 1210 may be disposed on at least one side of the seat part and the backrest part of the body massage part 1100. The second arm massage unit 1230 may be disposed on at least one other side of the seat part and the backrest part of the body massage part 1100. The first and second arm massage units 1210 and 1230 may operate independently of each other based on the control of the control unit 1400 (see FIG. 3) that controls the massage device 1000.

The leg massage unit 1300 may be disposed below the body massage unit 1100 and/or below the front of the massage device 1000. The leg massage unit 1300 includes a first leg massage unit 1310 disposed on one side of the leg massage unit 1300 to massage one leg of the user, and a first leg massage unit 1310 disposed on the other side of the leg massage unit 1300 to massage the user's other leg. It may include at least one of the second leg massage units 1330 that massage.

The leg massage unit 1300 includes a receiving space for accommodating the user's legs, and can provide a leg massage to the user by massaging at least a portion of the user's legs. For example, the leg massage unit 1300 may include a calf massage unit that massages the user's calf and/or a foot massage unit that massages the user's feet.

The length of the leg massage unit 1300 may be adjustable 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 1300 needs to be increased due to the length of the calf. Additionally, when a short user uses the massage device 1000, the leg massage unit 1300 needs to be shortened due to the short length of the calf. Accordingly, the leg massage unit 1300 can provide a leg massage customized to the user's height. According to one embodiment of the present invention, the user uses the massage device control device 2000 to control the massage device 1000. can be controlled. 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 at least one personal device among a remote controller, a cellular phone, and a PDA (Personal Digital Assistant), but is not limited to this and is a massage device. It may include various electronic devices that can be connected to (1000) through wired or wireless communication.

Figure 2 is a diagram for explaining a massage device according to an embodiment of the present invention.

According to one embodiment of the present invention, the main frame 1130 may include an upper frame 1131 on which the massage module 1110 is provided and a base frame 1132 supporting the upper frame 1131.

At least a portion of the upper frame 1131 may be provided with a rack gear 1131a. The rack gear 1131a is a member for guiding the up-and-down movement of the massage module 1110, and may include a plurality of valleys and a plurality of ridges.

According to one embodiment of the present invention, the rack gear 1131a may be provided in a form facing both sides of the upper frame 1131, and the massage module 1110 may move along the rack gear 1131a.

In FIG. 2, the rack gear 1131a is formed in the vertical direction, but is not limited thereto. The rack gear 1131a may include a rack gear in the front-rear direction and a rack gear in the vertical direction. In the present disclosure, the front-back direction may mean a direction from the massage module 100 to the user or from the user to the massage module 100.

The massage module 1110 may include a gear engaged with the rack gear 1131a. More specifically, the massage module 1110 may include gears meshed with a rack gear in the front-rear direction and a rack gear in the vertical direction, respectively. As the gear rotates by the actuator provided in the massage module 1110, the massage module 1110 can move forward, backward, upward, or downward.

As the massage module 1110 moves forward, the intensity of the massage may increase. Additionally, as the massage module 1110 moves rearward, the intensity of the massage may become weaker.

The rack gear 1131a may be made of metal or plastic. For example, the rack gear 1131a may be implemented with iron, steel, alloy, reinforced plastic, melamine resin, phenol resin, etc., but is not limited thereto.

The upper frame 1131 may be implemented in various shapes. For example, the upper frame 1131 may be classified into S frame, L frame, S&L frame, and double S&L frame depending on its shape, but is not limited thereto.

The S frame refers to a frame in which at least a portion of the upper frame 1131 has a curved shape like an “S.” The L frame refers to a frame in which at least part of the upper frame 1131 includes a curved shape like an “L,” and the S&L frame refers to a frame that includes both a curved shape like an “S” and a curved shape like an “L.” The double S&L frame refers to a frame that includes a curved shape like an "L" and a curved shape like a two-part "S".

The base frame 1132 refers to a portion that supports the upper frame 1131 and is in contact with the ground or the installation surface of the massage device 1000. The base frame 1132 may include a base upper frame 1132a and a base lower frame 1132b.

The base upper frame 1132a may support the upper frame 1131, and the base lower frame 1132b may be in contact with the ground or the installation surface of the massage device 1000. Additionally, the base upper frame 1132a may be positioned in contact with the base lower frame 1132b.

According to one embodiment of the present invention, the base upper frame 1132a can move along the base lower frame 1132b. For example, the base upper frame 1132a may slide forward or backward along the base lower frame 1132b. In this case, the upper frame 1131 is connected to the base upper frame 1132a and can move according to the movement of the base upper frame 1132a.

For example, when the base upper frame 1132a moves forward, the upper frame 1131 may also move forward, and when the base upper frame 1132a moves backward, the upper frame 1131 may also move backward. You can move. Because of this, sliding movement of the body massage unit 1100 may be permitted.

To allow movement of the base upper frame 1132a, a moving wheel may be provided at the lower part of the base upper frame 1132a. Additionally, a guide member capable of guiding the moving wheel may be provided on the upper part of the base lower frame 1132b. The moving wheel provided on the base upper frame 1132a moves along the guide member provided on the base lower frame 1132b, thereby allowing the base upper frame 1132a to move forward or backward.

According to another embodiment of the present invention, the massage device 1000 may not provide a sliding function, and in this case, the base frame 1132 may not be separated into an upper and lower frame.

Figure 3 is a diagram for explaining the detailed configuration of a massage device according to an embodiment of the present invention.

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

The control unit 1400 can control the massage device 1000. For example, the control unit 1400 includes a body massage unit 1100, an arm massage unit 1200, a leg massage unit 1300, a sensor unit 1410, a communication unit 1420, a memory 1430, and an audio output unit ( At least one of the interface unit 1440), the interface unit 1450, and the output unit can be controlled. Additionally, the control unit 1400 may control various detailed configurations necessary for operating the massage device 1000 that are not described above.

The control unit 1400 may include at least one processor. When the control unit 1400 includes a plurality of processors, at least some of the plurality of processors may be located physically spaced apart from each other. Additionally, the massage device 1000 is not limited to this and may be implemented in various ways.

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

For example, the massage device 1000 includes a driving unit that moves the armrest frame support, at least one actuator included in the massage module 100, a back angle actuator, a leg angle actuator, a foot massage actuator, a leg length adjustment actuator, and a sliding actuator. It may include at least one of:

The back angle actuator is an actuator that adjusts the angle of the part of the massage device 1000 that touches the user's back. The back angle of the massage device 1000 can be adjusted by the operation of the back angle actuator. The leg angle actuator is an actuator that adjusts the angle of the leg massage unit 1300 of the massage device 1000. The angle between the leg massage unit 1300 and the body massage unit 1100 can be adjusted by the operation of the leg angle actuator. there is. The foot massage actuator refers to an actuator that operates the foot massage module included in the leg massage unit 1300. For example, the control unit 1400 may provide a foot massage to the user using a foot massage actuator. The leg length adjustment actuator refers to an actuator that adjusts the length of the leg massage unit 1300. For example, the control unit 1400 may use a leg length adjustment actuator to adjust the length of the leg massage unit 1300 to suit the user, and as a result, the user can receive a massage tailored to his or her body type.

At least one actuator included in the massage module 1110 may be various actuators such as a movement actuator, a forward/backward actuator, and a massage actuator.

The movement actuator is an actuator that allows the massage module 1110 to move up and down, and moves the massage module 1110 along the main frame 1130 in at least one of the upward and downward directions of the massage device 1000. You can. The massage module 1110 can move along the rack gear by the operation of the moving actuator. The forward/backward actuator may advance/retract (or tilt) the massage module 1110 in at least one of the front and rear directions of the massage module 1110. The massage module 1110 may be tilted in at least one of the forward and backward directions of the massage module 1110 through the forward and backward actuator. The massage actuator can provide various massage actions to the user by moving the massage module 1110 in various ways.

The control unit 1400 may control the operation of the massage device 1000 by controlling the detailed configuration of the massage device 1000.

The control unit 1400 may provide various massage operations by operating at least one actuator included in the massage device 1000. For example, the control unit 1400 can provide a tapping massage, a kneading massage, etc. by operating at least one actuator included in the massage module 1110, but is not limited to this and can provide various massage operations.

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

The memory 1430 may be implemented through a non-volatile storage medium that can continuously store arbitrary data. For example, memory 1430 may include, but is not limited to, disks, optical disks, and magneto-optical storage devices, as well as storage devices based on flash memory and/or battery-backed memory. No.

The memory 1430 is a 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 the stored data is stored when the power is turned off. It may refer to a volatile storage device in which information is instantaneously erased, but is not limited to these. This memory 1430 can be operated by the control unit 1400.

The massage device 1000 may include a sensor unit 1410. The sensor unit 1410 can acquire various information using at least one sensor. The sensor unit 1410 may be provided as a sensor that uses measurement means such as pressure, potential, and optics. For example, sensors may include, but are not limited to, pressure sensors, infrared sensors, LED sensors, touch sensors, electrode sensors, air pressure measurement sensors, etc.

The sensor unit 1410 may include a biometric information acquisition sensor. The biometric information acquisition sensor may acquire at least one of fingerprint information, face information, voice information, iris information, weight information, blood pressure information, heart rate (or heart rate) information, electrocardiogram information, and body composition information, but is limited thereto. It may contain a variety of biometric information. The massage device 1000 can provide customized massage based on information acquired through sensors.

The massage device 1000 may detect the contact area and/or contact position with the user through sensors. Additionally, the massage device 1000 may provide customized massage based on information acquired through sensors. The sensor unit 1410 may include a safety sensor module 1500. The safety sensor module 1500 may control the operation of the leg massage unit 1300 or send a warning to the user when it is pressed by the user's body or by another object. A detailed description of the safety sensor module 1500 will be described later.

The communication unit 1420 may receive a signal transmitted from an external device or transmit a signal for the massage device 1000 to an external device.

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

The control unit 1400 obtains information about various components included in the massage device 1000 (e.g., information about the massage module 1110, information about the arm massage unit 1200, etc.), and the communication unit 1420 ) can be passed on. The communication unit 1420 may transmit information about the massage device 1000 to an external device.

The communication unit 1420 may communicate with a module inside the massage device 1000, an external massage device, and/or a user terminal through any type of network. The communication unit may include a wired/wireless connection module for network connection. As wireless access technology, for example, Wireless LAN (WLAN) (Wi-Fi), Wireless Broadband (Wibro), World Interoperability for Microwave Access (Wimax), High Speed Downlink Packet Access (HSDPA), etc. may be used. As a wired connection technology, for example, XDSL (Digital Subscriber Line), FTTH (Fibers to the home), PLC (Power Line Communication), etc. may be used. Additionally, the network connection unit includes a short-distance communication module and can transmit and receive data with any device/terminal located in a short distance. For example, short range communication technologies include Bluetooth, RFID (Radio Frequency Identification), IrDA (infrared Data Association), UWB (Ultra-Wideband), and ZigBee. It is not limited to this.

The massage device 1000 may further include an interface unit 1450. The interface unit 1450 may be disposed in at least a portion of the massage device 1000. For example, the interface unit 1450 may be disposed on the exterior of the arm massage unit 1200.

The interface unit 1450 may include an input unit and/or an output unit. The input unit may receive user input from the user and transmit it to the control unit 1400. The output unit may display information about the massage device 1000. For example, the output unit includes the processing result of the control unit 1400, operation information of at least one of the body massage unit 1100, arm massage unit 1200, and leg massage unit 1300, and information about the massage mode being executed. Various information, such as at least one of the following, can be output.

Specifically, the input unit may receive commands related to operation control of the massage device 1000 from the user, and the input unit may be implemented in various forms. For example, the input unit may be provided in the body massage unit 1100 or the leg massage unit 1300, but is not limited thereto. Additionally, the input unit may include the user input unit 1140 of FIG. 1, the massage device control device 2000, or various external devices to be described in FIG. 4.

The massage device 1000 may obtain various commands from the user through the input unit. For example, the massage device 1000 includes selection of a massage module, selection of a massage type, selection of massage intensity, selection of massage time, selection of a massage area, selection of the position and operation of the body massage unit 1100, and massage Arbitrary commands may be received for selection of power on/off of the device 1000, selection of whether to operate the heating function, selection related to sound source reproduction, etc., but are not limited thereto.

The massage device 1000 may provide an interface for selecting a massage mode through the interface unit 1450. For example, the input unit and/or output unit may include a massage apparatus control device 2000. A list of various modes of medical massage related to body improvement may be listed through the massage apparatus control device 2000.

The medical massage mode may include at least one of concentration mode, meditation mode, recovery mode, stretching mode, sleep mode, vitality mode, golf mode, hip-up mode, test taker mode, zero gravity mode, and growth mode.

According to another embodiment of the present invention, the interface unit 1450 executes buttons in the form of hot keys 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 for doing so.

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

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

The output unit may include an audio output unit 1440. The audio output unit 1440 of FIG. 3 may include the audio output module 1120 of FIG. 1. For example, the audio output module 1120 may be placed in various positions of the massage device 1000 as described above. As shown in FIG. 1 , the audio output module 1120 may be disposed in an area corresponding to the user's head among the entire area of the body massage unit 1100 of the massage device 1000. At this time, the area corresponding to the user's head may be an area corresponding to at least one of the two upper sides among the entire area of the body massage unit 1100.

The audio output unit 1440 can provide any type of audio output to the user. For example, the audio output unit 1440 may provide brain stimulation to the user by outputting sound sources and/or binaural beats optimized for the massage pattern provided by the massage device 1000 to the user. The audio output unit 1440 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 unit 1440 may output a sound source under control of the user terminal through a network connection (eg, Bluetooth connection, etc.) with the user terminal. Additionally, the audio output unit 1440 may output any type of sound signal generated in connection with the operation of the massage device 1000.

Those skilled in the art will understand 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 invention may be implemented by computer-readable media.

Computer-readable media can be any medium that can be accessed by a computer, and such computer-readable media includes 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 refers to volatile and non-volatile media, transient and non-transitory media, removable and non-removable, implemented in any method or technology for storage of 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, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage. This includes, but is not limited to, a device, or any other medium that can be accessed by a computer and used to store desired information.

FIG. 4 is a diagram illustrating an external device capable of communicating with the massage device 1000 according to an embodiment of the present invention.

The massage device 1000 can communicate wired or wirelessly with the external device 3000 through the communication unit 1420 to transmit and receive various data.

The external device 3000 may include a portable electronic device 3100 such as an AI speaker, tablet, or smartphone. The portable electronic device 3100 may be dedicated to the massage device 1000 or may be a general-purpose portable electronic device. Additionally, the external device 3000 may include a wearable device 3200 such as a smart watch or smart band. The external device 3000 may include a massage device 3300 other than the massage device 1000 that the user is currently using. The external device 3000 may include a hospital server 3400. The external device 3000 may include a personal health record (PHR) server. Additionally, the external device 3000 may include a cloud server 3500. The external device 3000 may include a medical measurement device such as an electronic scale, blood sugar monitor, or blood pressure monitor.

In the present invention, some examples of the external device 3000 are described, but any devices that can communicate with the massage device 1000 wired or wirelessly and exchange information with each other may be external devices.

FIG. 5 is a diagram illustrating the individual rotation of the leg massage unit in the massage device according to an embodiment of the present invention.

Referring to FIG. 5, the leg massage unit 1300 may be provided to correspond to both legs of the user. For example, the leg massage unit 1300 may include a first leg massage unit 1310 corresponding to one leg of the user and a second leg massage unit 1330 corresponding to the other leg of the user.

The first leg massage unit 1310 and the second leg massage unit 1330 can be controlled independently. For example, the first leg massage unit 1310 and the second leg massage unit 1330 may individually provide a massage function to the user. Additionally, the first leg massage unit 1310 and the second leg massage unit 1330 can be rotated independently. The user can receive different massages for both legs or alternate massages for both legs depending on need. Additionally, the user can receive stretching or massage by rotating both legs. In this case, the first leg massage unit 1310 and the second leg massage unit 1330 can rotate both legs of the user simultaneously or individually.

Figure 6 is a diagram for explaining the principle of rotation of the leg massage unit of Figure 5.

Referring to FIG. 6 , the massage device 1000 may include a leg angle actuator 1350 for rotating the leg massage unit 1300. The leg angle actuator 1350 may be disposed inside the body massage unit 1100. For example, a leg angle actuator may be connected to the main frame 1130.

The leg angle actuator 1350 may be driven to extend in one direction. As the leg angle actuator 1350 extends, the leg massage unit 1300 may rotate. The leg angle actuator 1350 may be provided to correspond to the first leg massage unit 1310 and the second leg massage unit 1330, respectively. The two leg angle actuators 1350 are respectively connected to the first leg massage unit 1310 and the second leg massage unit 1330 to individually massage the first leg massage unit 1310 and the second leg massage unit 1330. It can be rotated.

The leg angle actuator 1350 may include a link member 1351 at one end. The link member 1351 may be in contact with the leg massage unit 1300 to provide rotational power to the leg massage unit 1300. A wheel 1351a may be provided at the end of the link member 1351 on the leg massage unit 1300 side.

Figure 7 is a diagram showing a state in which the leg massage unit is connected to the leg connection frame according to an embodiment of the present invention.

Referring to FIG. 7, the leg massage unit 1300 may be rotatably connected to the leg connection frame 1131b. The upper frame 11131 may include a leg connection frame 1131b. The leg connecting frame 1131b may be provided at the front end of the upper frame 1131. The leg connection frame 1131b may be manufactured as a separate member and coupled to the upper frame 1131, or may be manufactured integrally with the upper frame 1131. When the leg connection frame 1131b is manufactured integrally with the upper frame 1131, the leg connection frame 1131b may mean a component of the upper frame 1131.

A center support bracket 1530 and a side support bracket 1550 may be connected to the leg connection frame 1131b. For example, the center support bracket 1530 and the side support bracket 1550 may be welded to the leg connection frame 1131b or may be coupled to each other by fastening members such as bolts and rivets. However, the method of coupling the center support bracket 1530 and the side support bracket 1550 to the leg connection frame 1131b can be replaced by various methods commonly used in the technical field to which the present invention pertains.

The center support bracket 1530 and the side support bracket 1550 can rotatably fix the leg massage unit 1300.

The first leg massage unit 1310 and the second leg massage unit 1330 may be disposed in front of the leg connection frame 1131b. For example, the first leg massage unit 1310 may be placed on the front right side of the leg connection frame 1131b, and the second leg massage unit 1330 may be placed on the front left side of the leg connection frame 1131b. there is.

FIG. 8 is a cross-sectional view taken along A-A' in FIG. 7, and FIG. 9 is a cross-sectional view taken along B-B' in FIG. 7.

Referring to FIGS. 8 and 9, the first leg massage unit 1310 includes a first center bushing 1311, a first side bushing 1312, a first shaft 1313, and a first leg frame 1314. can do.

The first shaft 1313 may pass through the first leg frame 1314 and be coupled to the first leg frame 1314. For example, a first shaft housing 1314a may be provided inside the first leg frame 1314, and the first shaft 1313 may be coupled through the first shaft housing 1314a. The first shaft 1313 may be fixed to the first shaft housing 1314a. For example, the first shaft 1313 may be coupled to the first shaft housing 1314a by welding or through a separate fastening member. The method of coupling the first shaft 1313 to the first shaft housing 1314a is not limited to the above-described embodiment, and may be replaced with various methods commonly used in the technical field to which the present invention pertains.

Both ends of the first shaft 1313 may be exposed to the outside of the first leg frame 1314. The first center bushing 1311 and the first side bushing 1312 may be coupled to both ends of the first shaft 1313 exposed to the outside of the first leg frame 1314.

One end of the first shaft 1313 may be inserted and coupled to the first center bushing 1311, and the other end may be inserted and coupled to the first side bushing 1312.

The first center bushing 1311 and the first side bushing 1312 may include resin. For example, the first center bushing 1311 and the first side bushing 1312 may include synthetic resin. As an example, the synthetic resin may include polyacetal (POM). Since the first center bushing 1311 and the first side bushing 1312 contain synthetic resin, wear resistance and fatigue resistance can be improved.

Additionally, the first center bushing 1311 and the first side bushing 1312 may include glassfiber. Corrosion resistance and insulation may be improved by the first center bushing 1311 and the first side bushing 1312 including glass fiber.

It is also possible to manufacture the first center bushing 1311, the first side bushing 1312, and the first shaft 1313 as one piece. In this case, the first center bushing 1311, the first side bushing 1312, and the first shaft 1313 may be made of the same material. For example, the first center bushing 1311, the first side bushing 1312, and the first shaft 1313 may be made of a metal material.

The first center bushing 1311 and the first side bushing 1312 may be rotatably fixed to the center support bracket 1530 and the side support bracket 1550, respectively.

A first center support rib 1311a may be provided to protrude from the outer peripheral surface of the first center bushing 1311 to prevent separation from the center support bracket 1530. The first center support rib 1311a may be provided to protrude outward in the radial direction. A bearing 1533 may be coupled to the outer peripheral surface of the first center bushing 1311 on which the first center support rib 1311a is not formed. The bearing 1533 may be supported by a center support bracket 1530.

A first side support rib 1312a may be provided to protrude from the outer peripheral surface of the first side bushing 1312 to prevent separation from the side support bracket 1550. The first side support rib 1312a may protrude outward in the radial direction. A bearing 1533 may be coupled to the outer peripheral surface of the first side bushing 1312 on which the first side support rib 1312a is not formed. Bearing 1533 may be supported by a side support bracket 1550.

The second leg massage unit 1330 may include a second center bushing 1321, a second side bushing 1322, a second shaft 1323, and a second leg frame 1324. A second center support rib 1321a may be provided on the outer peripheral surface of the second center bushing 1321, and a bearing 1533 may be coupled to the outer peripheral surface where the second center support rib 1321a is not formed. A second side support rib 1322a may be provided on the outer peripheral surface of the second side bushing 1322, and a bearing 1533 may be coupled to the outer peripheral surface where the second side support rib 1322a is not formed.

The above configuration is a component corresponding to the first center bushing 1311, the first side bushing 1312, the first shaft 1313, and the first leg frame 1314 of the first leg massage unit 1310, The function and structure (left and right symmetry) are the same. Accordingly, redundant description of the detailed configuration of the second leg massage unit 1330 will be omitted and replaced with the above description.

FIG. 10A is a diagram showing a shaft connected to a center support bracket and a side support bracket according to an embodiment of the present invention, FIG. 10B is a diagram showing the center rotation member rotated, and FIG. 11 is a diagram showing FIG. 10 is a schematic plan view, and FIG. 12A is a cross-sectional view taken along line C-C' of FIG. 10, and FIG. 12b is a cross-sectional view taken along line C-C' of FIG. 10 according to another embodiment of the present invention.

10 to 12, the center support bracket 1530 and the side support bracket 1550 may be coupled to the leg connection frame 1131b.

The center support bracket 1530 may be provided at the center of the leg connection frame 1131b. The center support bracket 1530 may rotatably fix the first center bushing 1311 of the first leg massage unit 1310 and the second center bushing 1321 of the second leg massage unit 1330.

Meanwhile, a bearing 1533 (see FIG. 12b) may be provided between the center support bracket 1530 and the center bushings 1311 and 1321 for smooth rotation. The bearing 1533 may be, for example, a ball bearing or a thrust bearing. , needle bearings, cylindrical bearings, spherical roller bearings, etc. can be provided with various bearings used in the technical field to which the present invention pertains.

The center support bracket 1530 may include a center fixing member 1531 and a center rotation member 1532.

The center fixing member 1531 may be welded to the leg connection frame 1131b, or may be coupled to the leg connection frame 1131b using a separate fastening member. One side of the center rotation member 1532 may be rotatably hinged to the center fixing member 1531. The center rotation member 1532 rotates and when its end comes into contact with the center fixing member 1531, it can be fastened by the fastening member.

The center fixing member 1531 may include a first center fixing member 1531a and a second center fixing member 1531b. The first center fixing member 1531a and the second center fixing member 1531b may be provided in corresponding shapes.

The center rotation member 1532 may include a first center rotation member 1532a and a second center rotation member 1532b. The first center rotation member 1532a and the second center rotation member 1532b may be provided in corresponding shapes.

The first center rotation member 1532a and the second center rotation member 1532b may be rotatably coupled to the first center fixing member 1531a and the second center fixing member 1531b, respectively.

The first center fixing member 1531a and the first center rotating member 1532a may rotatably fix the first center bushing 1311. The second center fixing member 1531b and the second center rotating member 1532b can rotatably fix the second center bushing 1321.

FIG. 13A is a diagram showing a center support bracket according to another embodiment of the present invention, and FIG. 13B is a diagram showing a center support bracket according to another embodiment of the present invention.

Referring to FIG. 13A, the first center rotation member 1532a and the second center rotation member 1532b may be connected by a center rotation member cover 1532c. For example, one side of the center rotating member cover 1532c may be connected to the inside of the first center rotating member 1532a, and the other side may be connected to the inside of the second center rotating member 1532b. The center rotating member cover 1532c may be welded to the first center rotating member 1532a and the second center rotating member 1532b, or may be connected through a separate fastening member. However, it is also possible to provide the first center rotation member 1532a, the second center rotation member 1532b, and the center rotation member cover 1532c as one body. In other words, the first center rotation member 1532a, the second center rotation member 1532b, and the center rotation member cover 1532c can be provided as one body by bending and cutting one member multiple times.

Referring to FIG. 13B, the center rotation member cover 1532c may be connected to the outside of the first center rotation member 1532a and the second center rotation member 1532b. The center rotating member cover 1532c may be welded to the first center rotating member 1532a and the second center rotating member 1532b, or may be connected through a separate fastening member. In this case, the center rotation member 1532c may be provided to entirely cover the upper portions of the first center rotation member 1532a and the second center rotation member 1532b.

In addition, it is also possible to connect the center rotation member cover 1532c to the first center rotation member 1532a and the second center rotation member 1532b through mechanical structures such as slide coupling or hook coupling. As long as the center rotation member cover 1532c is provided to cover at least a portion of the upper portion of the first center rotation member 1532a and the second center rotation member 1532b, the center rotation member cover 1532c is combined. The specified configuration can be replaced by various methods commonly used in the technical field to which the present invention pertains.

The center support bracket 1530 may correspond to a component of the safety sensor module 1500, which will be described later. A detailed description of the detailed configuration of the center support bracket 1530 will be described later.

Side support brackets 1550 may be provided on both sides of the leg connection frame 1131b. The side support bracket 1550 may include a first side support bracket 1550a provided at the right end of the leg connecting frame 1131b and a second side support bracket 1550b provided at the left end. The first side support bracket 1550a and the second side support bracket 1550b may be provided in corresponding shapes.

The first side support bracket 1550a can rotatably fix the first side bushing 1312. The second side support bracket 1550b can rotatably fix the second side bushing 1322. Bearings may be provided between the side support bracket 1550 and the side bushings 1312 and 1322 for smooth rotation.

The side support bracket 1550 may include, for example, a side fixing member 1551 and a side rotating member 1552.

The side fixing member 1551 may be welded to the leg connection frame 1131b, or may be coupled to the leg connection frame 1131b using a separate fastening member. One side of the side rotation member 1552 may be rotatably coupled to the side fixing member 1551. The side rotation member 1552 rotates and when its end comes into contact with the side fixing member 1551, it can be fastened by the fastening member.

Figures 14 (a) and (b) show the process of fastening the center bushing to the center support bracket, and Figures 14 (c) and (d) show the process of fastening the side bushing to the side support bracket. It is a drawing.

Referring to Figures 14 (a) and (b), the process of fastening the first center bushing 1311 to the center support bracket 1530 will be described.

The first center fixing member 1531a may be coupled to the leg connection frame 1131b. For example, the first center fixing member 1531a is a leg connecting frame with the leg connecting frame 1131b inserted into the leg connecting frame insertion groove 1531d-1 formed on one side of the first center fixing member 1531a. It may be welded to (1131b) or coupled through a separate fastening member.

When the first center fixing member 1531a is coupled to the leg connection frame 1131b, the first center rotation member 1532a can be rotated upward. For example, the first center rotation member 1532a may be rotatably hinged to the first center fixing member 1531a through the center rotation axis 1532a-1, and may be rotated relative to the center rotation axis 1532a-1. It can be rotated upward. Here, the center rotation axis 1532a-1 may mean a separate rotation axis rotatably connecting the first center fixing member 1531a and the first center rotation member 1532a. However, it is also possible to provide the center rotation axis 1532a-1 integrally with either the first center fixing member 1531a or the first center rotation member 1532a.

The first center bushing 1311 may be seated in the center bushing receiving groove 1531d-5 of the first center fixing member 1531a.

When the first center bushing 1311 is seated, the first center rotation member 1532a may be rotated downward. At this time, at least a portion of the upper outer peripheral surface of the first center bushing 1311 may be accommodated in the center bushing fixing groove 1532d of the first center rotation member 1532a. The center bushing receiving groove 1531d-5 and the center bushing fixing groove 1532d can rotatably support the first center bushing 1311.

When the first center rotating member 1532a rotates downward and the end contacts the fixing piece 1531d-4 of the first center fixing member, the first center rotating member 1532a is fixed to the fixing piece 1531d-4 by the fastening member. ) can be bound to.

The process of fastening the second center bushing 1321 to the center support bracket 1530 is the same as the process of fastening the first center bushing 1311 to the center support bracket 1530 described above.

Referring to Figures 14 (b) and (c), the process of fastening the first side bushing 1312 to the first side support bracket 1550a will be described.

The side fixing member 1551 may be coupled to the leg connection frame 1131b. For example, the side fixing member 1551 may be welded to the leg connection frame 1131b or may be coupled through a separate fastening member.

When the side fixing member 1551 is coupled to the leg connecting frame 1131b, the side rotating member 1552 can be rotated upward. For example, the side rotation member 1552 may be rotatably hinged to the side fixing member 1551 through the side rotation axis 1552b, and may be rotated upward based on the side rotation axis 1552b. Here, the side rotation axis 1552b may refer to a separate rotation axis rotatably connecting the side fixing member 1551 and the side rotation member 1552. However, it is also possible to provide the side rotation axis 1552b integrally with either the side fixing member 1551 or the side rotation member 1552.

The first side bushing 1312 may be seated in the side bushing receiving groove 1551a of the side fixing member 1551.

When the first side bushing 1312 is seated, the side rotation member 1552 may be rotated downward. At this time, at least a portion of the upper outer peripheral surface of the first side bushing 1312 may be accommodated in the side bushing fixing groove 1552a of the side rotation member 1552. The side bushing receiving groove 1551a and the side bushing fixing groove 1552a can rotatably support the first side bushing 1312.

When the side rotation member 1552 rotates downward and the end comes into contact with the side fixing member 1551, the side rotation member 1552 may be fastened to the side fixing member 1551 by the fastening member.

The process of fastening the second side bushing 1322 to the second side support bracket 1550b is the same as the process of fastening the above-described first side bushing 1312 to the first side support bracket 1550a.

As described above, the center bushing and the side bushings can be fixed by seating them on the center support bracket 1530 and the side support bracket 1550 and fastening them, so the leg massage unit 1300 can be easily used as the body massage unit 1100. It can be connected easily.

Figure 15 is an enlarged view of portion D of Figure 7, Figure 16 is a diagram showing a disassembled state of the safety sensor module according to an embodiment of the present invention, and Figure 17 is a safety sensor module according to an embodiment of the present invention. This is a diagram showing another embodiment.

Referring to FIGS. 15 and 16 , the massage device 1000 according to an embodiment of the present invention may include a safety sensor module 1500.

The safety sensor module 1500 may be provided on the leg connection frame 1131b. For example, the safety sensor module 1500 may be provided in a portion of the leg connection frame 1131b corresponding to the space between the first leg massage unit 1310 and the second leg massage unit 1330.

When an external force is applied, the safety sensor module 1500 may control the operation of at least one of the first leg massage unit 1310 and the second leg massage unit 1330. For example, when an external force is applied, the safety sensor module 1500 may stop the rotation of at least one of the first leg massage unit 1310 and the second leg massage unit 1330. In addition, when an external force is applied, the safety sensor module 1500 rotates at least one of the first leg massage unit 1310 and the second leg massage unit 1330 at a predetermined angle in the direction opposite to the rotation direction of the first leg massage unit ( 1310) and the second leg massage unit 1330 can be rotated.

The safety sensor module 1500 may include an alarm unit (not shown) that transmits a warning signal to the user when an external force is applied. The alarm unit may include, for example, at least one of a light emitting lamp, an audio device, and a vibration device. A luminescent lamp can emit a warning signal by emitting light to the user. Audio may correspond to the audio output module 1120 described above or may refer to a separate audio device. Audio can send a warning signal to the user through a warning sound. The vibration element may be provided as a vibration panel, vibration actuator, etc. The vibration element is provided in at least one of the body massage unit 1100, the arm massage unit 1200, and the leg massage unit 1300 and can transmit a warning signal by applying vibration to the user. At this time, a light emitting lamp and/or a vibrating element may be disposed in the leg massage unit 1300. For example, light-emitting lamps may be placed at various locations on the exterior (or exterior) of the leg massage unit 1300. The vibration element may be disposed in an area adjacent to the user's body (for example, an area corresponding to the sole of the foot, an area corresponding to the calf, etc.) among the entire area of the leg massage unit 1300.

Accordingly, the safety sensor module 1500 can prevent safety accidents that may occur when the user's body becomes caught between the leg massage units 1300. Additionally, the safety sensor module 1500 can prevent device damage/failure that may occur when objects enter between the leg massage units 1300.

The safety sensor module 1500 may include a sensor bracket 1510, a sensor 1520, a center support bracket 1530, and a pressure plate 1540.

A sensor bracket 1510 may be provided to support the sensor 1520. The sensor bracket 1510 may be coupled to the leg connection frame 1131b. For example, the sensor bracket 1510 may be coupled to the leg connection frame 1131b by welding or through a separate fastening member. The method of coupling the sensor bracket 1510 to the leg connection frame 1131b can be replaced by various methods commonly used in the technical field to which the present invention pertains.

The sensor bracket 1510 may include a protruding part 1511 and a bent part 1512. One side of the protruding part 1511 may be coupled to the leg connection frame 1131b, and the other side may protrude forward. The bent part 1512 may be bent downward at the other protruding end of the protruding part 1511. Accordingly, the sensor bracket 1510 may be provided as an overall 'L' shape. The bent part 1512 may be provided with a sensor coupling hole 1512a.

The sensor 1520 may be coupled to the sensor bracket 1510. For example, the sensor 1520 may be coupled to the bent part 1512 of the sensor bracket 1510. At this time, at least a portion of the sensor 1520 may be provided to penetrate the sensor coupling hole 1512a. Accordingly, at least a portion of the sensor 1520 may protrude in front of the bent part 1512.

The sensor 1520 may recognize contact with the pressure plate 1540. For example, when an external force is applied to the pressure plate 1540 and the pressure plate 1540 rotates, the pressure plate 1540 may contact the sensor 1520. When the pressure plate 1540 is contacted, the sensor 1520 may transmit the corresponding information to the control unit 1400. When the control unit 1400 receives information from the sensor 1520 that the pressure plate 1540 has been contacted, the control unit 1400 operates at least one of the first leg massage unit 1310 and the second leg massage unit 1330, as described above. can be controlled. Additionally, the control unit 1400 may drive the alarm unit to transmit a warning signal to the user.

The sensor 1520 may be provided as a sensor that uses measurement means such as pressure, potential, and optics. As an example, the sensor 1520 includes a sensor housing 1521, a contact part 1522 provided in the sensor housing 1521 and detecting contact with the pressure plate 1540, and a fastening part for fastening to the sensor bracket 1510 ( 1523) and an electrode terminal 1524 for electrical connection with an external device.

The contact portion 1522 may be slidably moved inside the sensor housing 1521 when pressure is applied by the pressure plate 1540. For this purpose, a separate elastic member may be provided inside the sensor housing 1521 to apply elastic force to the contact portion 1522. When the contact portion 1522 slides to the inside of the sensor housing 1521 under pressure, the sensor 1520 may transmit a signal to the control unit 1400, and accordingly, the control unit 1400 may The operation of at least one of the leg massage unit 1310 and the second leg massage unit 1330 can be controlled, or a warning signal can be sent to the user through an alarm unit.

The fastening part 1523 may be provided for coupling with the sensor bracket 1510. The fastening part 1523 may be made of a material with elastic force, and may be inserted into the sensor coupling hole 1512a formed in the sensor bracket 1510 when fastening the sensor 1520. In order to be easily inserted into the sensor coupling hole 1512a, the fastening part 1523 may include an inclined surface. The inclined surface may be provided so that the distance from the sensor housing 1521 increases from the rear to the front of the sensor 1520, with one end fixed to the sensor housing 1521. Additionally, the other end of the inclined surface may be provided with a flat surface for easy contact with the sensor coupling hole 1521a. The flat surface may be in contact with the inner surface of the sensor coupling hole (1521a). The fastening portion 1523 may be folded toward the sensor housing 1521 when held by a user. Therefore, when the sensor 1520 needs to be separated, the user can separate the sensor 1520 from the sensor bracket 1510 by holding the fastening part 1523.

Meanwhile, the sensor 1520 can be replaced with various sensors commonly used in the technical field to which the present invention pertains, as long as it can recognize the rotation or contact of the pressure plate 1540. For example, the sensor 1520 may be provided with at least one of a pressure sensor, an infrared sensor, an LED sensor, a touch sensor, and an electrode sensor.

The center support bracket 1530 may be placed on both sides of the sensor bracket 1510. The center support bracket 1530 may be manufactured as a separate member from the sensor bracket 1510 or may be manufactured integrally with the sensor bracket 1510. Alternatively, it is also possible to manufacture the center support bracket 1530 and the sensor bracket 1510 as separate members and then combine the center support bracket 1530 and the sensor bracket 1510 using a method such as welding. The method of combining the center support bracket 1530 and the sensor bracket 1510 can be replaced by various methods commonly used in the technical field to which the present invention pertains. A pressure plate 1540 may be rotatably connected to the center support bracket 1530. The sensor bracket 1510 may include a center fixing member 1531 and a center rotation member 1532.

For example, the center fixing member 1531 may include a base part 1531c and side parts 1531d protruding upward from both sides of the base part 1531c. The base part 1531c and the side part 1531d may be formed by bending a single member. However, it is also possible to manufacture the base part (1531c) and the side part (1531d) as separate members and then combine them.

The base part 1531c may constitute the bottom of the center fixing member 1531. The base part 1531c may be provided with at least one stopper 1531e. The stopper 1531e may limit the angle at which the pressure plate 1540 rotates in a direction away from the sensor 1520. The stopper 1531e may penetrate the base part 1531c and its end may protrude downward from the base part 1531c. If the stopper 1531e is provided as a single stopper (1531e), the stopper (1531e) may be placed in the central area of the base part (1531c), and if provided in plural numbers, the stopper (1531e) may be placed in at least one of the central area and both side areas of the base part (1531c). It can be.

The location and structure of the stopper 1531e can be varied as long as the rotation angle of the pressure plate 1540 is limited. For example, it is possible to attach the stopper 1531e to the bottom of the base part 1531c so that the entire stopper 1531e protrudes below the base part 1531c. Additionally, it is also possible to manufacture the stopper 1531e integrally with the base part 1531c. Additionally, it is also possible to provide a stopper 1531e on the pressure plate 1540.

The side part (1531d) may include a leg connection frame insertion groove (1531d-1). The leg connection frame 1131b may be inserted and coupled to the leg connection frame insertion groove 1531d-1. The leg connection frame insertion groove 1531d-1 may be provided by cutting one end of the side part 1531d opposite the leg connection frame 1131b. The leg connection frame insertion groove 1531d-1 may be provided in a shape such that its inner surface is joined to the outer surface of the leg connection frame 1131b. When the leg connection frame 1131b is inserted into the leg connection frame insertion groove 1531d-1, the portion where the side part 1531d and the leg connection frame 1131b come into contact may be welded. However, the method of combining the side part 1531d and the leg connecting frame 1131b can be replaced with a method commonly used in the technical field to which the present invention pertains.

The side part 1531d may include a center rotation member insertion hole 1531d-2. The center rotation member 1532 may be rotatably hinged to the center rotation member insertion hole 1531d-2. The center rotation member insertion hole 1531d-2 may be provided at various positions of the side part 1531d to enable the center rotation member 1532 to rotate on the upper part of the side part 1531d.

The side part (1531d) may include a pressure plate insertion hole (1531d-3). One side of the pressure plate 1540 may be rotatably hinged to the pressure plate insertion hole 1531d-3. The pressure plate insertion hole 1531d-3 comes into contact with the sensor 1520 when the other side of the pressure plate 1540 rotates upward (see FIG. 16) or downward (see FIG. 17) and rotates beyond a preset angle. It can be provided at various positions of the side part 1531d. For example, the pressure plate insertion hole 1531d-3 may be provided on the front lower side (see FIG. 16) or the front upper side (see FIG. 17) of the side part 1531d.

One of the side parts 1531d protruding from both sides of the base part 1531c may be provided with a fixing piece 1531d-4 bent toward the other side part 1531d. However, it is also possible to manufacture the fixing piece (1531d-4) as a separate member and connect it to both side parts (1531d). When the center rotating member 1532 rotates and the end contacts the fixing piece 1531d-4, the end of the center rotating member 1532 and the fixing piece 1531d-4 may be coupled by the fastening member.

The side part (1531d) may include a center bushing receiving groove (1531d-5). The center bushings 1311 and 1321 may be rotatably seated in the center bushing receiving groove 1531d-5. For example, the center bushing receiving groove 1531d-5 may be provided by cutting the upper end of the side part 1531d.

The center rotation member 1532 may be rotatably hinged to the side part 1531d. The center rotation member 1532 may include a center bushing fixing groove (1532d). When the center rotation member 1532 rotates and engages the fixing piece 1531d-4 of the side part 1531d, the center bushing fixing groove 1532d is connected to the center bushing receiving groove 1531d-5 and the center bushing 1311, 1321) can be rotatably supported.

The pressure plate 1540 may be rotatably hinged to the center support bracket 1530. The pressure plate 1540 may include an elastic member 1541. The elastic member 1541 may apply elastic force to the pressure plate 1540 so that the free end of the pressure plate 1540 rotates in a direction away from the sensor 1520. The elastic member 1541 may be provided as a variety of members capable of applying elastic force to the pressure plate 1540. As an example, the elastic member 1541 may be provided as a torsion spring. When the elastic member 1541 is provided as a torsion spring, when the pressure plate 1540 rotates, both ends of the torsion spring may contact at least one of the pressure plate 1540 and the center support bracket 1530.

The elastic member 1541 simply allows the user to press against the pressing plate 1540 in situations where the user's body or other objects are not caught between the leg massage unit 1300 or between the leg massage unit 1300 and the body massage unit 1100. It is possible to prevent the pressure plate 1540 from rotating due to contact with the body or other objects.

The pressure plate 1540 may rotate to contact the sensor 1520. For example, when an external force greater than the elastic force of the elastic member 1541 is applied to the pressure plate 1540, the pressure plate 1540 may rotate and come into contact with the sensor 1520.

Figures 18 (a) and (b) are diagrams showing a process in which a safety sensor module is driven according to an embodiment of the present invention.

Referring to (a) of FIG. 18, due to the elastic force of the elastic member 1541, one end of the pressure plate 1540 may be disposed to be spaced apart from the sensor 1520, and the other end may contact the stopper 1531e. It can be. Since elastic force continuously acts on the pressure plate 1540, one end of the pressure plate 1540 may not contact the sensor 1520 if a predetermined external force is not applied for a predetermined time.

Referring to (b) of FIG. 18, while the user's body is sandwiched between the leg massage unit 1300 and/or between the leg massage unit 1300 and the body massage unit 1100, the leg massage unit 1300 and the body massage unit 1300 When at least one of the massage units 1100 rotates, an external force F greater than the elastic force of the elastic member 1541 may be applied to the pressure plate 1540. Additionally, the external force F continues to act on the pressure plate 1540 unless the stuck state is released. In this case, the pressure plate 1540 rotates, and one end may be in contact with the sensor 1520. When the pressure plate 1540 is contacted, the sensor 1520 can transmit the corresponding information to the control unit 1400. When the control unit 1400 receives information from the sensor unit 1520 that the pressure plate 1540 has been contacted, the control unit 1400 operates at least one of the first leg massage unit 1310, the second leg massage unit 1330, and the body massage unit 1100. One operation can be controlled or the alarm unit can be driven. Accordingly, it is possible to prevent safety accidents that may occur when the user's body is caught between the leg massage unit 1300 and/or between the leg massage unit 1300 and the body massage unit 1100.

In addition, it is possible to prevent device failure or damage that may occur when objects other than the user's body are caught between the leg massage unit 1300 or between the leg massage unit 1300 and the body massage unit 1100.

Hereinafter, with reference to FIGS. 19 to 22, a process in which the alignment of the leg massage unit 1300 is controlled in the massage device 1000 according to an embodiment of the present invention will be described.

Figure 19 is a diagram showing an alignment sensor unit provided in the leg massage unit 1300 according to an embodiment of the present invention. Referring to FIG. 19, the leg massage unit 1300 may include alignment sensor units 1310a and 1330a for alignment. Here, the fact that the leg massage unit 1300 is aligned may mean that the first leg massage unit 1310 and the second leg massage unit 1330 are disposed at the same position from the ground or the installation surface of the massage device 1000. . In other words, this may mean that the first leg massage unit 1310 and the second leg massage unit 1330, which rotate individually, rotate to the same position and are arranged side by side in the width direction (see FIG. 7).

A light emitting sensor 1310a may be provided on one surface of the first leg massage unit 1310 opposite the second leg massage unit 1330. A light-receiving sensor 1330a that receives a signal transmitted from the light-emitting sensor 1310a may be provided on one surface of the second leg massage part 1330 opposite the first leg massage part 1310. It is also possible to provide a light emitting sensor in the second leg massage part 1330 and a light receiving sensor in the first leg massage part 1310. However, for convenience of explanation, hereinafter, it is assumed that the first leg massage unit 1310 is provided with a light emitting sensor 1310a and the second leg massage unit 1330 is provided with a light receiving sensor 1330a.

When the first leg massage unit 1310 and the second leg massage unit 1330 are aligned, that is, the first leg massage unit 1310 and the second leg massage unit 1330 are arranged side by side in the width direction. In this case, the signal transmitted from the light emitting sensor 1310a may be received by the light receiving sensor 1330a.

When a signal from the light emitting sensor 1310a is received by the light receiving sensor 1330a, the control unit 1400 may determine that the first leg massage unit 1310 and the second leg massage unit 1330 are aligned. If the signal from the light emitting sensor 1310a is not received by the light receiving sensor 1330a, the control unit 1400 determines that the first leg massage unit 1310 and the second leg massage unit 1330 are not aligned but are crossed. You can judge.

The first leg massage unit 1310 and the second leg massage unit 1330 may be provided with an encoder. The encoder can measure at least one of the rotation speed (angular velocity) and rotation amount of the first leg massage unit 1310 and the second leg massage unit 1330, and can transmit the measured information to the control unit 1400. .

The control unit 1400 may control the alignment of the first leg massage unit 1310 and the second leg massage unit 1330 based on at least one of a signal received from the light receiving sensor 1330a and information received from the encoder. .

Figure 20 is a flowchart of aligning the leg massage part of the massage device according to an embodiment of the present invention. Referring to FIG. 20 , when the first leg massage unit 1310 and the second leg massage unit 1330 rise or fall simultaneously, the leg massage unit 1300 alignment function of the control unit 1400 will be described. Hereinafter, when the first leg massage unit 1310 or the second leg massage unit 1330 rises, it means that the front end of the first leg massage unit 1310 or the second leg massage unit 1330 rotates upward and touches the ground or the massage unit. This may mean moving away from the installation surface of the device 1000. The descending of the first leg massage unit 1310 or the second leg massage unit 1330 means that the front end of the first leg massage unit 1310 or the second leg massage unit 1330 rotates downward and touches the ground or the massage device 1000. ) may mean getting closer to the installation surface.

The first leg massage unit 1310 and the second leg massage unit 1330 may simultaneously rise or fall by the user's manipulation. The first leg massage unit 1310 and the second leg massage unit 1330 may rise or fall to predetermined target coordinates by the control unit 1400. The target coordinates may mean the rotation angle displacement of the first leg massage unit 1310 and the second leg massage unit 1330.

When the first leg massage unit 1310 and the second leg massage unit 1330 rise or fall simultaneously, the control unit 1400 determines whether the signal from the light emitting sensor 1310a is received/sensed by the light receiving sensor 1330a. can be judged.

(Route 1-1): When a signal is received by the light receiving sensor 1330a, the control unit 1400 can maintain the rising or falling speed of the first leg massage unit 1310 and the second leg massage unit 1330. there is. The control unit 1400 continuously/periodically receives a signal from the light emitting sensor 1310a to the light receiving sensor 1330a until the first leg massage unit 1310 and the second leg massage unit 1330 reach the target coordinates. /You can determine whether it is being sensed. While signal reception is maintained at the light receiving sensor 1330a, the control unit 1400 may maintain the rising or falling speed of the first leg massage unit 1310 and the second leg massage unit 1330. When the first leg massage unit 1310 and the second leg massage unit 1330 reach the target coordinates, the control unit 1400 raises the first leg massage unit 1310 and the second leg massage unit 1330 or The lowering motion can be stopped.

(Route 1-2): If the signal from the light emitting sensor 1310a is not received by the light receiving sensor 1330a before the first leg massage unit 1310 and the second leg massager 1330 reach the target coordinates, the control unit ( 1400 may slow down the speed of either the first leg massage unit 1310 or the second leg massage unit 1330. Thereafter, the control unit 1400 may determine whether the distance between the first leg massage unit 1310 and the second leg massage unit 1330 is reduced. The control unit 1400 compares the rotation angles of the first leg massage unit 1310 and the second leg massage unit 1330 based on the information received from the encoder, and adjusts the first and second leg massage units 1310 and 1330. ) It is possible to determine whether the interval between the first leg massage unit 1310 and the second leg massage unit 1330 is reduced based on whether the included angle (or difference in encoder values, encoder spacing, etc.) is reduced.

The control unit 1400 may determine that the gap between the first leg massage unit 1310 and the second leg massage unit 1330 decreases when the angle between them decreases, and when the angle between them increases, the first leg massage unit 1310 ) and the second leg massage unit 1330 may be judged to be increasing.

(Route 1-2-1): When the control unit 1400 determines that the distance between the first leg massage unit 1310 and the second leg massage unit 1330 is decreasing, the control unit 1400 performs the first leg massage. The speed of the unit 1310 and the second leg massage unit 1330 can be maintained until a signal is received by the light receiving sensor 1330a. For example, when the speed of the first leg massage unit 1310 is reduced, the control unit 1400 uses a light-receiving sensor to detect the reduced speed of the first leg massage unit 1310 and the speed of the second leg massage unit 1330. It can be maintained until a signal is received at (1330a). Conversely, when the speed of the second leg massage unit 1330 is reduced, the control unit 1400 uses the reduced speed of the second leg massage unit 1330 and the speed of the first leg massage unit 1310 to detect the light sensor 1330a. ) can be maintained until a signal is received.

When a signal is received by the light receiving sensor 1330a, the control unit 1400 can match the speeds of the first leg massage unit 1310 and the second leg massage unit 1330. For example, the control unit 1400 sets the speeds of the first and second leg massage units 1310 and 1330 to the same preset/initial speed or controls the speed of the 12th or 21st leg massage units 1330 and 1310. It can be adjusted to the final speed of . In more detail in the latter case, when the speed of the first leg massage unit 1310 has been reduced, the control unit 1400 changes the speed of the second leg massage unit 1330 to the deceleration speed of the first leg massage unit 1310. When the speed of the second leg massage unit 1330 has slowed down, the control unit 1400 can adjust the speed of the first leg massage unit 1310 to the deceleration speed of the second leg massage unit 1330. there is.

When the first leg massage unit 1310 and the second leg massage unit 1330 reach the target coordinates, the control unit 1400 causes the first leg massage unit 1310 and the second leg massage unit 1330 to move up or down. can be stopped.

(Route 1-2-2): When the control unit 1400 determines that the distance between the first leg massage unit 1310 and the second leg massage unit 1330 increases, the control unit 1400 performs the first leg massage. Among the unit 1310 and the second leg massage unit 1330, one whose rotational speed has been reduced can be accelerated (or returned to the pre-deceleration speed), and the other one can be decelerated. Afterwards, the control unit 1400 may again determine whether the distance between the first leg massage unit 1310 and the second leg massage unit 1330 is reduced. If the interval is judged to be decreasing, the subsequent operation is the same as 'Route 1-2-1'

Figure 21 is a flowchart of the alignment of the leg massage part of the massage device according to another embodiment of the present invention. The operation configuration shown in FIG. 21 explains the leg massage unit 1300 alignment function of the control unit 1400 when the first leg massage unit 1310 and the second leg massage unit 1330 rise or fall simultaneously. do. At this time, the operation shown in FIG. 21 is performed by the first leg massage unit 1310 before the alignment of the first leg massage unit 1310 and the second leg massage unit 1330 by the control unit 1400 in the operation shown in FIG. 20. ) and the second leg massage unit 1330 is an embodiment in which an alignment operation is added when one of the target coordinates is reached first.

The first leg massage unit 1310 and the second leg massage unit 1330 may simultaneously rise or fall by the user's manipulation. The first leg massage unit 1310 and the second leg massage unit 1330 may rise or fall to predetermined target coordinates by the control unit 1400. When the first leg massage unit 1310 and the second leg massage unit 1330 rise or fall simultaneously, the control unit 1400 determines whether a signal from the light emitting sensor 1310a is received by the light receiving sensor 1330a. can do.

(Route 2-1): When a signal is received by the light receiving sensor 1330a, the control unit 1400 can maintain the rising or falling speed of the first leg massage unit 1310 and the second leg massage unit 1330. there is. The control unit 1400 determines whether the signal from the light emitting sensor 1310a is continuously received by the light receiving sensor 1330a until the first leg massage unit 1310 and the second leg massage unit 1330 reach the target coordinates. You can. While signal reception is maintained at the light receiving sensor 1330a, the control unit 1400 may maintain the rising or falling speed of the first leg massage unit 1310 and the second leg massage unit 1330. When the first leg massage unit 1310 and the second leg massage unit 1330 reach the target coordinates, the control unit 1400 raises the first leg massage unit 1310 and the second leg massage unit 1330 or The lowering motion can be stopped.

(Route 2-2): If the signal from the light emitting sensor 1310a is not received by the light receiving sensor 1330a before the first leg massage unit 1310 and the second leg massager 1330 reach the target coordinates, the control unit ( 1400 may slow down the speed of either the first leg massage unit 1310 or the second leg massage unit 1330. Thereafter, the control unit 1400 may determine whether the distance between the first leg massage unit 1310 and the second leg massage unit 1330 is reduced.

(Route 2-2-1): When the control unit 1400 determines that the distance between the first leg massage unit 1310 and the second leg massage unit 1330 is decreasing, the control unit 1400 performs the first leg massage. The speed of the unit 1310 and the second leg massage unit 1330 can be maintained. Afterwards, the control unit 1400 may determine whether one of the first leg massage unit 1310 and the second leg massage unit 1330 has reached the target coordinate.

(Route 2-2-1-1): When the control unit 1400 determines that either the first leg massage unit 1310 or the second leg massage unit 1330 has reached the target coordinate, the control unit 1400 ) can stop one that has reached the target coordinates and continue to raise or lower the other. Thereafter, the control unit 1400 may raise or lower the other until the signal from the light emitting sensor 1310a is received by the light receiving sensor 1330a. When a signal from the light emitting sensor 1310a is received by the light receiving sensor 1330a, the control unit 1400 can stop the operation of the other one.

(Route 2-2-1-2): When the control unit 1400 determines that either the first leg massage unit 1310 or the second leg massage unit 1330 has not reached the target coordinates, the control unit ( 1400 may determine whether a signal from the light emitting sensor 1310a is received by the light receiving sensor 1330a.

(Route 2-2-1-2-1): When a signal is received by the light receiving sensor 1330a, the control unit 1400 matches the speeds of the first leg massage unit 1310 and the second leg massage unit 1330. You can. For example, the control unit 1400 sets the speeds of the first and second leg massage units 1310 and 1330 to the same preset/initial speed, or controls the speed of the second or first leg massage units 1330 and 1310. It can be adjusted to the final speed of . In more detail in the latter case, when the speed of the first leg massage unit 1310 has been reduced, the control unit may adjust the speed of the second leg massage unit 1330 to the deceleration speed of the first leg massage unit 1310. And when the speed of the second leg massage unit 1330 has slowed down, the control unit 1400 can adjust the speed of the first leg massage unit 1310 to the deceleration speed of the second leg massage unit 1330. When the first leg massage unit 1310 and the second leg massage unit 1330 reach the target coordinates, the control unit 1400 causes the first leg massage unit 1310 and the second leg massage unit 1330 to move up or down. can be stopped.

(Route 2-2-1-2-2): If a signal is not received by the light receiving sensor 1330a, the control unit 1400 may perform the 'Route 2-2-1' operation.

(Route 2-2-2): When the control unit 1400 determines that the distance between the first leg massage unit 1310 and the second leg massage unit 1330 increases, the control unit 1400 performs the first leg massage. Among the unit 1310 and the second leg massage unit 1330, one whose rotational speed has been reduced may be increased and the other may be decelerated. Afterwards, the control unit 1400 may again determine whether the gap between the first leg massage unit 1310 and the second leg massage unit 1330 is reduced. If it is determined that the gap is reduced, the subsequent operation is 'Route 2'. Same as '-2-1'.

Although not shown in FIGS. 20 and 21 , when alignment is completed, the control unit 1400 may tune the speed of the two leg massage units based on the alignment result.

As an example, the control unit 1400 may set/tune the speed of the leg massage unit adjusted during alignment to the basic speed. More specifically, when the speed of the first or second leg massage unit (1310, 1330) is reduced/increased from the first speed to the second speed during alignment, the control unit operates the first or second leg massage unit (1310, 1330). 1330) can be tuned/set as the second speed.

Alternatively, as another embodiment, the control unit 1400 may collect speed control results of the leg massage units and tune the speeds of the two leg massage units based on the collected results. More specifically, the control unit performs the alignment operation of the first or second leg massage units (1310, 1330) n times, then collects the n-time performance results and operates the first or second leg massage units (1310, 1330). The average value of the control speed can be calculated. The control unit 1400 can tune the basic speed of the first or second leg massage units 1310 and 1330 using the average control speed calculated in this way. As the n value increases, the alignment accuracy may increase, and as the n value decreases, the alignment accuracy may decrease.

When speed tuning/setting is performed, the first and second leg massage units 1310 and 1330 increase or decrease the tuned/set speed to the basic speed in subsequent massage operations. This tuning/setting operation may be performed multiple times during the massage operation, and the speed difference between the first and second leg massage units 1310 and 1330 is continuously reduced through continuous tuning/setting.

Figure 22 is a flowchart of alignment of the leg massage part of the massage device according to another embodiment of the present invention. Referring to FIG. 22, when the first leg massage unit 1310 and the second leg massage unit 1330 are raised or lowered toward the same target coordinate in a crossed state, the leg massage unit 1300 of the control unit 1400 The sorting function is explained.

The first leg massage unit 1310 and the second leg massage unit 1330 may be arranged in a crossed state. The crossed state means that the first leg massage unit 1310 and the second leg massage unit 1330 are arranged in a state that is offset in the width direction (for example, the first or second leg massage units 1310 and 1330 are raised, but This may mean that the second or first leg massage units 1330 and 1310 are in a lowered state and the signal from the light emitting sensor 1310a is not received by the light receiving sensor 1330a.

The control unit 1400 moves one of the first leg massage unit 1310 and the second leg massage unit 1330 toward the target coordinates (for example, the top, bottom, or center coordinates of the leg massage unit 1300). When one descends and the other ascends toward the same target coordinates, one of the first leg massage unit 1310 and the second leg massage unit 1330 that reached the target coordinates first can be stopped.

Thereafter, the control unit 1400 may raise or lower the other one that has not reached the target coordinates until a signal from the light emitting sensor 1310a is received from the light receiving sensor 1330a. When a signal from the light emitting sensor 1310a is received by the light receiving sensor 1330a, the control unit 1400 can stop the operation of the other one.

Through this embodiment, the two leg massage parts in a crossed state can be aligned.

As described above, the control unit 1400 of the massage device 1000 according to an embodiment of the present invention operates the alignment sensor units 1310a and 1330b when the first leg massage unit 1310 and the second leg massage unit 1330 are driven. ), which has the effect of adjusting the alignment state of the first leg massage unit 1310 and the second leg massage unit 1330.

In the above, the technical idea of the present invention has been described along with the accompanying drawings, but this is an exemplary description of a preferred embodiment of the present invention and does not limit the present invention. In addition, it is clear that anyone skilled in the art of the present invention can make various modifications and imitations without departing from the scope of the technical idea of the present invention.

Additionally, the configuration and functions of the massage device of this specification can be expanded and applied to various (wearable) healthcare devices that can provide healthcare functions (eg, massage/massage function, bio-signal measurement function, etc.). Therefore, of course, the 'massage device' in this specification can be replaced with a '(wearable) healthcare device'.

1000: Massage device 1100: Body massage unit
1110: Massage module 1120: Audio output module
1130: main frame 1140: user input unit
1200: arm massage unit 1210: first arm massage unit
1230: second arm massage unit 1300: leg massage unit
1310: First leg massage unit 1330: Second leg massage unit
1350: leg angle actuator 1400: control unit
1410: sensor unit 1420: communication unit
1430: Memory 1440: Audio output unit
1450: Interface unit 1500: Anti-jamming sensor module
1510: sensor bracket 1520: sensor
1530: Center support bracket 1540: Pressure plate
1550: Side support bracket

Claims (16)

a leg massage unit including a first leg massage unit that massages one leg of the user and a second leg massage unit that massages the other leg of the user;
an alignment sensor unit including a light emitting sensor provided in the first leg massage unit and a light receiving sensor provided in the second leg massage unit and receiving a signal from the light emitting sensor; and
It includes a control unit that controls the first and second leg massage units and the alignment sensor unit,
The first leg massage unit and the second leg massage unit are provided to be able to rotate independently,
The control unit controls the alignment between the first leg massage unit and the second leg massage unit based on the signal received from the light receiving sensor,
Massage device.
According to claim 1,
When the first leg massage unit and the second leg massage unit simultaneously rise or fall simultaneously toward the target coordinates,
The control unit,
Maintaining the speed of the first leg massage unit and the second leg massage unit while signal reception from the light receiving sensor is maintained,
Massage device.
According to claim 1,
When the first leg massage unit and the second leg massage unit simultaneously rise or fall simultaneously toward the target coordinates,
The control unit,
If a signal is not received by the light receiving sensor, the speed of one of the first leg massage unit and the second leg massage unit is reduced,
Massage device.
According to clause 3,
The control unit,
When a signal is received by the light-receiving sensor before the first leg massage unit and the second leg massage unit reach the target coordinates, matching the speeds of the first leg massage unit and the second leg massage unit,
Massage device.
According to clause 3,
The control unit,
When the angle between the first and second leg massage units increases,
Increasing the speed of one of the first leg massage unit and the second leg massage unit, while reducing the speed of the other one,
Massage device.
According to clause 5,
The control unit,
When a signal is received by the light-receiving sensor before the first leg massage unit and the second leg massage unit reach the target coordinates, matching the speeds of the first leg massage unit and the second leg massage unit,
Massage device.
According to any one of claims 3 or 5,
The control unit,
When one of the first leg massage unit and the second leg massage unit reaches the target coordinates, raising or lowering the other one until a signal is received by the light receiving sensor,
Massage device.
According to claim 1,
The control unit
In a state where the first leg massage unit and the second leg massage unit are crossed, one of the first leg massage unit and the second leg massage unit descends toward the target coordinate, and the other one rises toward the target coordinate. If you do,
Stopping whichever one reaches the target coordinates first, and raising or lowering the other one until a signal is received by the light receiving sensor,
Massage device.
According to claim 1,
The control unit receives at least one information of the rotation angle and rotation speed of the first leg massage unit and the second leg massage unit from an encoder connected to the first leg massage unit and the second leg massage unit,
Massage device.
According to clause 9,
The control unit determines the coordinates of the first leg massage unit and the second leg massage unit based on the information received from the encoder.
Massage device.
Simultaneously raising or lowering the first leg massage unit and the second leg massage unit toward the target coordinates; and
A step of determining whether a signal from a light-emitting sensor provided in the first leg massage unit is received by a light-receiving sensor provided in the second leg massage unit,
When a signal is received by the light receiving sensor, the speed of the first leg massage unit and the second leg massage unit are maintained,
Comprising: reducing the speed of any one of the first and second leg massage units when a signal is not received by the light receiving sensor,
Method for controlling the leg massage part of a massage device.
According to claim 11,
When reducing the speed of any one of the first and second leg massage units,
If a signal is received by the light-receiving sensor before the first leg massage unit and the second leg massage unit reach the target coordinates, it further includes matching the speeds of the first leg massage unit and the second leg massage unit. doing,
Method for controlling the leg massage part of a massage device.
According to claim 11,
When reducing the speed of any one of the first and second leg massage units,
When the angle between the first and second leg massage units increases,
Further comprising increasing the speed of one of the first leg massage unit and the second leg massage unit, while reducing the speed of the other one,
How to control the leg massage part of the massage device.
According to claim 13,
If a signal is received by the light-receiving sensor before the first leg massage unit and the second leg massage unit reach the target coordinates, it further includes matching the speeds of the first leg massage unit and the second leg massage unit. doing,
Method for controlling the leg massage part of a massage device.
According to claim 11,
When reducing the speed of any one of the first and second leg massage units,
When either the first leg massage unit or the second leg massage unit reaches the target coordinate,
raising or lowering the other until a signal is received by the light receiving sensor,
Method for controlling the leg massage part of a massage device.
In a state where the first leg massage unit and the second leg massage unit are crossed, one of the first leg massage units descends toward the target coordinate and the other one rises toward the target coordinate; and
A step of stopping one of the first leg massage unit and the second leg massage unit that reached the target coordinates first, and raising or lowering the other one until a signal is received by the light receiving sensor.
Method for controlling the leg massage part of a massage device.

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