A pneumatic energy generation device

Abstract

The present invention provides a pneumatic energy generating device characterized by comprising at least one pneumatic generating unit including a pneumatic supply member that supplies stored pneumatic energy to a actuator and a pneumatic generating member that generates pneumatic energy by adjusting the pressure of the pneumatic supply member, a liquid gas chamber that receives a liquefied gas and a liquid fluid chamber that receives a liquid fluid, and at least one pneumatic enhancing unit that increases pneumatic energy and simultaneously cools the pneumatic generating member by selectively mixing the liquid fluid with the liquefied gas according to the pressure of the pneumatic supply member to selectively vaporize the liquefied gas.

Description

Technology Field

[0001] The present invention relates to a pneumatic energy generating device, and more specifically, to a pneumatic energy generating device that effectively assists human muscle strength by providing either continuous pneumatic energy or explosive pneumatic energy as an actuator in response to the characteristic that human muscles operate with two energy supply plans. Background Technology

[0003] Generally, wearable robots are used as a means to support or assist human muscle strength when worn by a person, and most of them adopt hydraulic devices to generate large forces.

[0004] Korean Published Patent Application No. 10-2012-0105194 (September 25, 2012), filed prior to this, discloses a wearable robot with improved weight, volume, noise, vibration, and energy efficiency.

[0005] The wearable robot according to the prior art described above is configured to supply hydraulic pressure to a hydraulic actuator, such as a hydraulic cylinder, which is connected to the upper leg part and the lower leg part, respectively, to assist leg movement. The wearable robot includes a hydraulic device, and the hydraulic device is equipped with a hydraulic pump and a flow control valve.

[0006] A hydraulic pump is installed in the supply path connecting an oil tank storing hydraulic fluid and a hydraulic actuator. The hydraulic pump is connected to the oil tank storing the hydraulic fluid and configured to pressurize the hydraulic fluid stored in the tank, and is driven by an electric motor. In other words, the electric motor and the hydraulic pump function to pressurize the hydraulic fluid and supply it to the hydraulic actuator. The hydraulic pump may be configured as a unidirectional hydraulic pump connected to the electric motor. The operation of the electric motor is controlled by a control signal from a motor controller, and the motor controller receives a control signal from the main controller and outputs a corresponding control signal to the motor.

[0007] A flow control valve is installed in a discharge path, which branches off from the supply path connecting the hydraulic actuator and the hydraulic pump to discharge hydraulic fluid. The operation of the flow control valve is controlled by a control signal from a valve controller, and the valve controller generates and outputs a signal to control the operation of the flow control valve in accordance with the control signal output from the main controller. In this case, a pressure sensor is installed in the supply path that supplies hydraulic fluid to the hydraulic actuator, and a signal processor processes the output signal from the pressure sensor and transmits it to the main controller. Additionally, a check valve is provided on the supply path between the hydraulic actuator and the hydraulic pump.

[0008] The aforementioned conventional technology consists of relatively bulky components such as oil tanks, hydraulic pumps, and hydraulic actuators, which makes it difficult for the user to bear the weight of the oil tanks, etc., and thus has the problem of being difficult to concentrate on the task when performing a separate task.

[0010] (Patent Document 1) Korean Published Patent Application No. 10-2012-0105194 (September 25, 2012) The problem to be solved

[0012] The objective of the present invention to solve the above-mentioned problem is to provide a pneumatic energy generating device that can effectively assist human muscle strength by corresponding to the characteristic of human muscles operating with two energy supply plans (anaerobic / aerobic metabolism), by operating only the pneumatic generating unit to supply low-output continuous pneumatic energy to the actuator, or operating the pneumatic generating unit and the pneumatic reinforcement unit simultaneously to supply high-output explosive pneumatic energy to the actuator.

[0014] The technical problems that the present invention aims to solve are not limited to those mentioned above, and other unmentioned technical problems will be clearly understood by those skilled in the art to which the present invention belongs from the description below. means of solving the problem

[0016] The present invention, for achieving the above-mentioned purpose, provides a pneumatic energy generating device characterized by comprising: at least one pneumatic generating unit including a pneumatic supply member that supplies stored pneumatic energy to a actuator and a pneumatic generating member that generates said pneumatic energy by adjusting the pressure of said pneumatic supply member; and at least one pneumatic enhancing unit including a liquid gas chamber that receives a liquefied gas and a liquid fluid chamber that receives a liquid fluid, wherein the liquid fluid is selectively mixed with said liquefied gas according to the pressure of said pneumatic supply member to selectively vaporize said liquefied gas, thereby increasing said pneumatic energy and simultaneously cooling said pneumatic generating member.

[0017] In an embodiment of the present invention, the pneumatic generating unit may further comprise: an upper housing that accommodates the pneumatic supply member and the pneumatic generating member; and a flow path control valve connected between the liquid gas chamber and the liquid fluid chamber, which opens or closes according to the pressure of the pneumatic supply member to control the supply amount of the liquid fluid supplied to the liquefied gas chamber.

[0018] In an embodiment of the present invention, the pneumatic reinforcement member further comprises: a lower housing coupled to the lower part of the upper housing to accommodate the liquid gas chamber and the liquid fluid chamber; and a check valve located on the upper inner side of the lower housing and connected between the pneumatic supply member and the liquefied gas chamber; wherein the check valve is closed in the direction from the pneumatic supply member to the liquefied gas chamber and is open in the direction from the liquefied gas chamber to the pneumatic supply member.

[0019] In an embodiment of the present invention, the pneumatic reinforcement member may further include a sensor comprising a temperature sensor and a pressure sensor, each connected to the pneumatic supply member to measure the temperature and pressure of the pneumatic supply member.

[0020] In an embodiment of the present invention, the pneumatic energy may further include a continuous pneumatic energy for continuously supplying energy lower than a preset energy and an explosive pneumatic energy for instantaneously supplying energy higher than the preset energy, and a control unit for controlling the operation of the pneumatic generating member so that the pneumatic supply member supplies either the continuous pneumatic energy or the explosive pneumatic energy to the actuator.

[0021] In an embodiment of the present invention, the invention may further include a control unit that controls the operation of the pneumatic generating member and the flow path control valve so as to maintain a preset ratio between the pressure amount of the pressure generated by the pneumatic generating member and supplied to the pneumatic supply member and the vaporization amount of the liquefied gas.

[0022] In an embodiment of the present invention, the control unit further includes a control algorithm that identifies the operating state according to the temperature of the pneumatic supply member transmitted from the temperature sensor, the pressure of the pneumatic supply member transmitted from the pressure sensor, and a pre-entered command; wherein the operating state may be characterized by including a state in which the pressure generated by the pneumatic generating member is generated to be equal to the pre-designed pressure of the pneumatic generating member and supplied to the pneumatic supply member and stored in the pneumatic supply member, a state in which the pneumatic generating member is overheated and the pressure according to the pre-entered command is lower than the pre-designed pressure, a state in which the liquefied gas is consumed and not present inside the liquefied gas chamber, and a state in which a portion of the liquefied gas exists inside the liquefied gas chamber.

[0023] In an embodiment of the present invention, the pneumatic generating member may be characterized by comprising: a dual piston disposed on the upper side of the interior of the upper housing and communicating with the pneumatic supply member, and supplying pneumatic pressure generated through linear reciprocating motion to the pneumatic supply member; and a motor connected to at least a part of the dual piston and supplying rotational force to at least a part of the dual piston to cause the dual piston to move linearly reciprocating motion.

[0024] In an embodiment of the present invention, a seating member is formed on the lower side of the interior of the lower housing to accommodate the lower end of the liquefied gas chamber, and the central part of one side of the lower housing is open so that the liquefied gas chamber can be detachably attached to the interior of the lower housing. Effects of the invention

[0026] The effect of the present invention according to the above configuration is that, by operating only the pneumatic generating unit to supply low-output continuous pneumatic energy to the actuator or operating the pneumatic generating unit and the pneumatic reinforcing unit simultaneously to supply high-output explosive pneumatic energy to the actuator, it is possible to effectively assist human muscle strength in response to the characteristic of human muscles operating with two energy supply plans (anaerobic / aerobic metabolism).

[0028] The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description of the invention or the claims. Brief explanation of the drawing

[0030] FIG. 1 is a perspective view from one direction showing a pneumatic energy generating device according to a first embodiment of the present invention. FIG. 2 is a perspective view from one direction showing a detailed configuration provided in a pneumatic energy generating device according to a first embodiment of the present invention. FIG. 3 is a conceptual diagram showing the process of a pneumatic energy generating device according to the first embodiment of the present invention generating pneumatic energy. Figures 4 (a) and 4 (b) are graphs showing pressure curves according to temperature of carbon dioxide used in the prior art and nitrogen used in the pneumatic energy generation device according to the first and second embodiments of the present invention. FIG. 5 is a perspective view from one direction showing a liquefied gas chamber provided in a pneumatic energy generating device according to a first embodiment of the present invention. FIG. 6 is a diagram showing pressure over time when a pneumatic energy generating device according to the first and second embodiments of the present invention generates continuous pneumatic energy and explosive pneumatic energy and supplies them to an actuator. Figures 7 (a), (b), and (c) are conceptual diagrams showing that a pneumatic energy generating device according to the first and second embodiments of the present invention generates pneumatic energy by controlling pressure and the supply amount of liquid fluid. FIG. 8 is a conceptual diagram showing the process of a pneumatic energy generating device according to the first embodiment of the present invention controlling the pressure of a pneumatic supply member to transmit continuous pneumatic energy and explosive pneumatic energy to an actuator. FIGS. 9 and FIGS. 10 are perspective views from one direction showing a pneumatic energy generating device according to a second embodiment of the present invention. Specific details for implementing the invention

[0031] The present invention will be described below with reference to the attached drawings. However, the present invention may be implemented in various different forms and is therefore not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification have been given similar reference numerals.

[0032] Throughout the specification, when it is stated that a part is "connected (connected, in contact, combined)" with another part, this includes not only cases where they are "directly connected," but also cases where they are "indirectly connected" with other members interposed between them. Furthermore, when it is stated that a part "includes" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but rather allows for the inclusion of additional components.

[0033] The terms used herein are merely for describing specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as “comprising” or “having” are intended to indicate the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0034] Embodiments of the present invention will be described in detail below with reference to the attached drawings.

[0036] 1. First embodiment

[0037] Hereinafter, a pneumatic energy generating device according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 8.

[0038] FIG. 1 is a perspective view from one direction showing a pneumatic energy generating device according to a first embodiment of the present invention.

[0039] Referring to FIG. 1, a pneumatic energy generating device (100) according to the first embodiment of the present invention is a liquefied gas-based pneumatic energy generating device (100) for operating a biomimetic pneumatic artificial muscle, and includes at least one pneumatic generating unit (110), at least one pneumatic reinforcing unit (120), and a control unit (130).

[0040] Here, the liquefied gas may include any gas capable of liquefaction, and the liquefied gas in the present invention will be described as liquid nitrogen (N2).

[0041] FIG. 2 is a perspective view from one direction showing a detailed configuration provided in a pneumatic energy generating device according to a first embodiment of the present invention. FIG. 3 is a conceptual diagram showing the process of a pneumatic energy generating device according to a first embodiment of the present invention generating pneumatic energy.

[0042] Referring to FIGS. 2 and 3, the pneumatic generating unit (110) includes an upper housing (111), a pneumatic supply member (112), a pneumatic generating member (113), a safety valve (114), and a flow path control valve (115).

[0043] The upper housing (111) has an internal space formed to accommodate a pneumatic supply member (112) and a pneumatic generating member (113).

[0044] In addition, a lower housing (121), which will be described later, is coupled to the lower part of the upper housing (111).

[0045] The pneumatic supply member (112) (reservoir) has a hollow shape with an empty interior and supplies stored pneumatic energy to the actuator (10).

[0046] Specifically, the pneumatic supply member (112) communicates with the pneumatic generating member (113) and supplies pressure generated from the pneumatic generating member (113). Accordingly, the pneumatic supply member (112) stores pneumatic energy resulting from the pressure applied internally and then supplies it to the actuator (10) to operate the actuator (10).

[0047] The pneumatic generating member (113) generates pneumatic energy by adjusting the pressure of the pneumatic supply member (112).

[0048] The pneumatic generating member (113) for this purpose includes a dual piston (113a) and a motor (113b).

[0049] The dual piston (113a) is positioned on the upper side of the interior of the upper housing (111) and communicates with the pneumatic supply member (112), and supplies pneumatic pressure generated through linear reciprocating motion to the pneumatic supply member.

[0050] Specifically, the dual piston (113a) may include a rotating plate connected to the motor shaft of the motor (113b) and rotating, a connecting rod with one side linked to the rotating plate, a piston linked to the other side of the connecting rod and performing linear reciprocating motion, and a guide member formed to surround the piston and guide the linear reciprocating motion of the piston.

[0051] The motor (113b) is connected to at least a part of the dual piston (113a) and supplies rotational force to at least a part of the dual piston (113a) to cause the dual piston (113a) to move in a linear reciprocating motion.

[0052] The safety valve (114) is located inside the upper housing (111) and communicates with the pneumatic supply member (112).

[0053] Additionally, the safety valve (114) normally remains closed, but when the pressure of the pneumatic supply member (112) exceeds a preset safety pressure range, it opens to discharge some of the air from the pneumatic supply member (112), thereby lowering the pressure of the pneumatic supply member (112) and preventing the pneumatic supply member (112) from bursting due to pressure.

[0054] The Euro control valve (115) is connected between the liquid gas chamber (123) and the liquid fluid chamber (126) and is opened or closed according to the pressure of the pneumatic supply member (112) to control the amount of liquid fluid supplied to the liquefied gas chamber (123).

[0055] For example, the Euro control valve (115) may be a solenoid valve, but is not limited thereto, and any valve that performs the function of blocking or opening the flow of the Euro (e.g., a manual valve) may be used.

[0056] Here, the liquid fluid may be a liquid including water, antifreeze, etc.

[0057] The pneumatic reinforcement unit (120) selectively mixes a liquid fluid with the liquefied gas according to the pressure of the pneumatic supply member (112) and selectively vaporizes the liquefied gas, thereby increasing pneumatic energy and simultaneously cooling the pneumatic generating member (113).

[0058] Here, the primary function of the pneumatic reinforcement unit (120) is to rapidly generate high pressure in the pneumatic supply member (112), and the secondary function of the pneumatic reinforcement unit (120) is to cool the pneumatic generating member (113b).

[0059] Specifically, if the pneumatic generating member (113b) operates repeatedly, overheating may occur in the pneumatic generating member (113b), which may degrade performance.

[0060] The reason for the performance degradation is that as the temperature rises, the motor's magnetic flux density decreases, leading to a reduction in output.

[0061] To address such performance degradation, the pneumatic reinforcement unit (120) cools the pneumatic generating member (113b) by injecting low-temperature nitrogen gas, which is vaporized from the liquefied gas, into the pneumatic generating member (113b). Additionally, the pneumatic reinforcement unit (120) vaporizes the liquefied gas of the pneumatic reinforcement unit (120) and transfers it to the pneumatic supply member (112) in order to inject low-temperature nitrogen gas into the pneumatic generating member (113b). Furthermore, the pneumatic reinforcement unit (120) continues to attempt vaporization above the preset safety pressure range of the safety valve (114). Subsequently, when the low-temperature nitrogen gas is discharged through the safety valve (114), it comes into direct contact with the overheated pneumatic generating member (113b) located nearby, thereby cooling the overheated pneumatic generating member (113b).

[0062] Referring to FIGS. 2 and 3, the pneumatic reinforcement unit (120) includes a lower housing (121), a fitting member (122), a liquid gas chamber (123), a check valve (124), a sensor (125), a liquid fluid chamber (126), and a battery (127).

[0063] The lower housing (121) is coupled to the lower part of the upper housing (111) and has an internal space formed to accommodate a liquid gas chamber (123) and a liquid fluid chamber (126).

[0064] Additionally, a seating member (121a) is formed on the lower side of the lower housing (121) to which the lower end of the liquefied gas chamber (123) is seated.

[0065] In addition, one central part of the lower housing (121) is opened so that a liquefied gas chamber (123) can be detachably attached to the inside of the lower housing (121), as shown in FIG. 2.

[0066] Accordingly, the liquefied gas chamber (123) coupled inside the lower housing (121) is exposed to the outside in at least a portion.

[0067] The fitting member (122) is located on the upper side inside the lower housing (121).

[0068] Additionally, the fitting member (122) connects the pneumatic supply member (112) and the liquid gas chamber (123).

[0069] FIGS. 4(a) and 4(b) are graphs showing pressure curves according to temperature of carbon dioxide used in the prior art and nitrogen used in the pneumatic energy generation device according to the first and second embodiments of the present invention. FIG. 5 is a perspective view from one direction showing a liquefied gas chamber equipped in the pneumatic energy generation device according to the first embodiment of the present invention.

[0070] Referring to FIG. 5, the liquid gas chamber (123) has an internal space formed to accommodate liquefied gas.

[0071] Specifically, the liquid gas chamber (123) may have a cylindrical shape, and the upper part of the liquid gas chamber (123) is connected to the fitting member (122).

[0072] In this invention, liquid nitrogen is used to generate pneumatic energy, whereas in the prior art, carbon dioxide was used.

[0073] When using carbon dioxide (CO2), it is used by capturing carbon dioxide (CO2) present at room temperature and atmospheric pressure, and then lowering the pressure to convert it into a liquid state.

[0074] Conversely, to vaporize carbon dioxide, carbon dioxide in a liquid state is exposed to room temperature and atmospheric pressure conditions.

[0075] Referring to Figure 4(a), since carbon dioxide is liquefied at relatively high pressure, a very rigid, thick, and heavy container, such as a high-pressure air tank, is required to store liquefied carbon dioxide.

[0076] If a lightweight, compact container like a bicycle carbon dioxide cartridge or a carbonated water cartridge is used, it cannot hold a large amount of air.

[0077] Meanwhile, referring to Figure 4 (b), nitrogen (N2) is relatively more affected by temperature than by pressure when liquefied compared to carbon dioxide.

[0078] Generally, liquid nitrogen (N2) is an economical, environmentally friendly, and chemically stable substance produced as a byproduct during the process of obtaining liquid oxygen.

[0079] In particular, due to the characteristic that volume can expand 600 to 700 times when changing from a liquid state to a gaseous state at room temperature and atmospheric pressure, it can be used as a promising pneumatic energy source capable of supplying explosively high pressure and flow rate.

[0080] In addition, since liquefied gas remains in a liquid state even at very low temperatures of minus 200 degrees, liquid nitrogen can be vaporized by raising the surrounding temperature.

[0081] Conversely, in order to store the liquefied gas in a liquid state for a long time, an insulating container is required that can be isolated from the surrounding ambient temperature, which is relatively very hot, and accordingly, the above-mentioned liquid gas chamber (123) is preferably made of a material capable of insulation.

[0082] A liquid gas chamber (123) for storing liquid gas does not need to withstand high pressure, but rather has an insulation capability that is more important.

[0083] This liquid gas chamber (123) can be manufactured to be relatively more compact and lightweight, so it has the advantage of being able to secure a large capacity with a compact and light weight compared to other carbon dioxide tanks or high-pressure air tanks.

[0084] Specifically, the liquid gas chamber (123) can be formed with a structure similar to a thermos bottle, and the liquid gas chamber (123) has a vacuum layer between the outer wall and the inner wall, which limits the method of heat transfer to radiation only and has an insulating function.

[0085] The check valve (124) is located on the upper inner side of the lower housing (121) and is connected between the pneumatic supply member (112) and the liquefied gas chamber (123).

[0086] Specifically, the check valve (124) is closed in the direction from the pneumatic supply member (112) to the liquefied gas chamber (123) and opened in the direction from the liquefied gas chamber (123) to the pneumatic supply member (112).

[0087] FIG. 6 is a diagram showing pressure over time when a pneumatic energy generating device according to the first and second embodiments of the present invention generates continuous pneumatic energy and explosive pneumatic energy and supplies them to an actuator.

[0088] Referring to FIG. 6, the sensor (125) includes a temperature sensor (125a) and a pressure sensor (125b) that are each connected to the pneumatic supply member (112) to measure the temperature and pressure of the pneumatic supply member (112).

[0089] The temperature sensors (125a) are each connected to the pneumatic supply members (112) to measure the temperature of the pneumatic supply members (112).

[0090] The above-mentioned temperature sensor (125a) transmits the measured temperature of the pneumatic supply member (112) to the control unit (130).

[0091] The pressure sensors (125b) are each connected to the pneumatic supply members (112) to measure the pressure of the pneumatic supply members (112).

[0092] The pressure sensor (125b) above transmits the measured pressure of the pneumatic supply member (112) to the control unit (130).

[0093] The liquid fluid chamber (126) has a hollow shape with an empty interior to accommodate the liquid fluid.

[0094] Additionally, the liquid fluid chamber (126) may share the same space as the pneumatic supply member (112, reservoir).

[0095] Additionally, the liquid fluid chamber (126) is positioned inside the lower housing (121) adjacent to the liquefied gas chamber (123).

[0096] The above-mentioned liquid fluid chamber (126) supplies liquid fluid into the interior of the liquefied gas chamber (123) due to the pressure difference between the liquid fluid chamber (126) and the liquefied gas chamber (123) that changes depending on whether the flow control valve (115) is open or closed.

[0097] The battery (127) is located inside the lower housing (121) adjacent to the liquefied gas chamber (123) and the liquid fluid chamber (126).

[0098] The above-mentioned battery (127) supplies power to the pneumatic generating member (113), safety valve (114), flow control valve (115), check valve (124), sensor (125), and control unit (130).

[0099] Figures 7 (a), (b), and (c) are conceptual diagrams showing that a pneumatic energy generating device according to the first and second embodiments of the present invention generates pneumatic energy by controlling pressure and the supply amount of liquid fluid.

[0100] The control unit (130) controls the operation of the pneumatic generating member (113) so that the pneumatic supply member (112) supplies either continuous pneumatic energy or explosive pneumatic energy to the actuator (10).

[0101] Here, pneumatic energy may include continuous pneumatic energy for continuously supplying energy lower than a preset energy and explosive pneumatic energy for instantaneously supplying energy higher than a preset energy.

[0102] Specifically, as shown in FIG. 7 (a), continuous pneumatic energy can be provided by operating only the pneumatic generating member (113) to continuously supply low pressure.

[0103] Meanwhile, when the actuator (10) requires a relatively high output, the pressure generated from the pneumatic generating member (113) alone cannot provide sufficient pneumatic energy, so additional explosive pneumatic energy must be stored in the pneumatic supply member (112) (reservoir) through the pneumatic reinforcement member (120).

[0104] Here, the explosive pneumatic energy includes a first explosive pneumatic energy and a second explosive pneumatic energy, and the second explosive pneumatic energy has a higher output than the first explosive pneumatic energy.

[0105] Accordingly, as shown in Fig. 7 (b), after the pneumatic supply member (112) is initially pressurized by the pneumatic generating member (113), the solenoid valve (115b) is opened so that the liquid fluid contained in the liquid fluid chamber (126) can be injected into the liquefied gas chamber (123), allowing the liquid fluid to be injected little by little into the liquefied gas chamber (123).

[0106] More specifically, the liquid fluid contained in the liquid fluid chamber (126) is pushed into the interior of the liquefied gas chamber (123) due to the property of achieving pressure equilibrium based on the pressure difference between the liquefied gas chamber (1236), which has a relatively low pressure, and the pneumatic supply member (112) (reservoir).

[0107] Since the liquefied gas chamber (123) has two inlets as it is connected to the check valve (124) and the flow control valve (115), when the flow control valve (115) is closed, a pressure difference occurs with the pneumatic supply member (112) (reservoir), whereas when the flow control valve (115) is open, the pressure is balanced.

[0108] Here, the check valve (124) is closed in the direction from the pneumatic supply member (112) (reservoir) to the liquefied gas chamber (123) as described above, and is open in the direction from the liquefied gas chamber (123) to the pneumatic supply member (112) (reservoir).

[0109] As illustrated in Fig. 7(b), when supplying the first explosive pneumatic energy, the pneumatic supply member (112))(reservoir) is first filled with an appropriately low pressure using the pneumatic generating member (113), and the liquid fluid is injected by opening or closing the flow control valve (115) at short intervals, so that the liquid fluid falls little by little into the liquefied gas chamber (123) to generate an appropriate amount of vaporization, thereby generating the first explosive pneumatic energy required for the actuator (10).

[0110] Meanwhile, referring to Fig. 7(c), in order to deliver high-output second explosive pneumatic energy to the actuator (10), the pressure of the pneumatic supply member (112) (reservoir) is initially raised to the maximum that the pneumatic generating member (113) can generate, and then the liquid fluid is injected at high pressure into the liquefied gas chamber (123) while giving sufficient time to open the flow control valve (115). As the liquid fluid is injected at high pressure, the liquefied gas in the liquefied gas chamber (123) rapidly vaporizes and is delivered to the pneumatic supply member (112) (reservoir) through the check valve (124).

[0111] Accordingly, as a large amount of air is generated in an instant, the pressure of the pneumatic supply member (112) (reservoir) increases rapidly.

[0112] Additionally, the control unit (130) controls the operation of the pneumatic generating member (113) and the flow path control valve (115) so that the pressure amount of the pressure generated by the pneumatic generating member (113) and supplied to the pneumatic supply member (112) and the vaporization amount of the liquefied gas are maintained at a preset ratio.

[0113] Additionally, the control unit (130) may have a control algorithm built in to determine the operating state based on the temperature of the pneumatic supply member (112) transmitted from the temperature sensor (125a), the pressure of the pneumatic supply member (112) transmitted from the pressure sensor (125b), and a pre-entered command.

[0114] Here, the operating state may include 1) a state in which the pressure generated by the pneumatic generating member (113) is generated and supplied to the pneumatic supply member (112) at the same level as the pre-designed pressure of the pneumatic generating member (113) and stored in the pneumatic supply member (112), 2) a state in which the pneumatic generating member (113) is overheated and the pressure according to the pre-input command is lower than the pre-designed pressure, 3) a state in which the liquefied gas is consumed and not present inside the liquefied gas chamber (123), and 4) a state in which a portion of the liquefied gas exists inside the liquefied gas chamber (123).

[0116] Hereinafter, the operation of a pneumatic energy generating device according to a first embodiment of the present invention will be described with reference to FIGS. 3, FIGS. 6, and FIGS. 8.

[0117] FIG. 3 illustrates the process of generating pneumatic energy to be provided to an actuator (10) through a pneumatic energy generating device (100) according to the first embodiment of the present invention, wherein pneumatic energy is generated through a pneumatic generating unit (110) and a pneumatic reinforcing unit (120) having a mutually complementary relationship as shown in FIG. 3.

[0118] Specifically, the pneumatic generating unit (110) contributes to compressing a liquid fluid to a high pressure to operate the pneumatic reinforcing unit (120), and the pneumatic reinforcing unit (120) contributes to cooling so that the pneumatic generating unit (110) can continuously produce a constant performance.

[0119] The pneumatic energy generated by the pneumatic generating unit (110) and the pneumatic reinforcing unit (120) is stored together in the pneumatic supply unit (112) (reservoir) and transferred to the actuator (10).

[0120] Referring to FIG. 6, the pneumatic generating unit (110) can continuously supply sufficient energy for a long time to assist the actuator in a low range of exercise intensity.

[0121] Specifically, in the graph shown at the top of Fig. 6, the pressure continuously decreases with a peak value of 350 kPa.

[0122] The reason for the above is that when the actuator (10) continuously uses the stored pressure of the pneumatic supply member (112) (reservoir), the amount of air stored in the pneumatic supply member (112) (reservoir) is momentarily transferred to the actuator (10), causing a fluctuation in pressure, and the pneumatic generating member (113) operates again to maintain it at 350 kPa.

[0123] Since the pneumatic reinforcement unit (120) can instantly generate explosive high-output input power, even when the actuator (10) is driven, significant pressure fluctuations do not occur in the pneumatic supply member (112) (reservoir).

[0124] If the pneumatic generating unit (110) and the pneumatic reinforcing unit (120) are used simultaneously, the pneumatic energy generated by the pneumatic generating unit (110) and the pneumatic reinforcing unit (120), respectively, is stored together in the pneumatic supply member (112) (reservoir), and high-output pneumatic energy can be provided instantaneously by the pneumatic reinforcing unit (120), while pressure energy can be continuously provided by the pneumatic generating unit (110).

[0125] FIG. 8 is a conceptual diagram showing the process of a pneumatic energy generating device according to the first embodiment of the present invention controlling the pressure of a pneumatic supply member to transmit continuous pneumatic energy and explosive pneumatic energy to an actuator.

[0126] Referring to FIG. 8, when the pressure of the pneumatic supply member (112) increases by the pneumatic generating member (113), the flow control valve (115) opens, and the liquid fluid contained in the liquid fluid chamber (126) is supplied into the liquid gas chamber (123). As a result, liquid nitrogen vaporizes and vaporization occurs, and as the air that has become cold due to the vaporization process is supplied to the pneumatic supply member (112), the motor (113b) adjacent to the pneumatic supply member (112) is cooled.

[0127] Referring to FIG. 8, the present invention can sustainably supply low pressure energy by operating only the pneumatic generating unit (110), and can sustainably supply low pneumatic energy to the actuator (10) by operating the pneumatic generating unit (110) and the pneumatic amplification unit (120) simultaneously, and can also instantaneously supply high pneumatic energy (high power) to the actuator (10), so that the actuator (10) can sustainably produce output and instantaneously produce high output (amplification).

[0129] 2. Second embodiment

[0130] Hereinafter, a pneumatic energy generating device according to a second embodiment of the present invention will be described with reference to FIGS. 1 to 10.

[0131] FIGS. 9 and FIGS. 10 are perspective views from one direction showing a pneumatic energy generating device according to a second embodiment of the present invention.

[0132] Referring to FIGS. 9 and 10, a pneumatic energy generating device (100) according to a second embodiment of the present invention includes at least one pneumatic generating unit (110), at least one pneumatic reinforcing unit (120), and a control unit (130).

[0133] Here, the pneumatic generating unit (110), pneumatic reinforcing unit (120), and control unit (130) provided in the pneumatic energy generating device (100) according to the second embodiment of the present invention are identical to those of the first embodiment except for their location, so a detailed description thereof is provided by referring to the foregoing description.

[0134] In addition, since the detailed components of the pneumatic generating unit (110) and the pneumatic reinforcing unit (120) provided in the pneumatic energy generating device (100) according to the second embodiment of the present invention are also identical to those of the first embodiment, a detailed description thereof is to be made by referring to the foregoing.

[0135] However, unlike the first embodiment which is extended in the vertical direction, the pneumatic energy generating device (100) according to the second embodiment of the present invention is configured to increase the width instead of reducing the height, so it has the advantage of being more compact than the first embodiment.

[0137] The foregoing description of the present invention is for illustrative purposes only, and those skilled in the art will understand that other specific forms can be easily modified without altering the technical spirit or essential features of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single unit may be implemented in a distributed manner, and components described as distributed may likewise be implemented in a combined form.

[0138] The scope of the present invention is defined by the claims set forth below, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts thereof should be interpreted as being included within the scope of the present invention. Explanation of the symbols

[0140] 100: Pneumatic energy generating device 110: Pneumatic generator 111: Upper housing 112: Pneumatic supply member 113: Pneumatic generating member 113a: Dual Piston 113b: Motor 114: Safety valve 115: Euro control valve 120: Pneumatic reinforcement section 121: Lower housing 121a: Seating member 122: Fitting part 123: Liquid-gas chamber 124: Check valve 125: Sensor 125a: Temperature sensor 125b: Pressure sensor 126: Liquid fluid chamber 127: Battery

Claims

Claim 1 At least one pneumatic generating unit comprising a pneumatic supply member that supplies stored pneumatic energy to an actuator and a pneumatic generating member that generates said pneumatic energy by adjusting the pressure of said pneumatic supply member; at least one pneumatic enhancing unit comprising a liquefied gas chamber that receives a liquefied gas and a liquid fluid chamber that receives a liquid fluid, and sensors including a temperature sensor and a pressure sensor respectively connected to said pneumatic supply member to measure the temperature and pressure of said pneumatic supply member, and which increases said pneumatic energy and simultaneously cools said pneumatic generating member by selectively mixing said liquid fluid with said liquefied gas according to the pressure of said pneumatic supply member to selectively vaporize said liquefied gas; A pneumatic energy generating device comprising a control unit having a control algorithm embedded therein for determining the operating state according to the temperature of the pneumatic supply member transmitted from the temperature sensor, the pressure of the pneumatic supply member transmitted from the pressure sensor, and a pre-entered command, wherein the operating state includes a state in which the pressure generated by the pneumatic generating member is generated to be equal to the pre-designed pressure of the pneumatic generating member and supplied to the pneumatic supply member and stored in the pneumatic supply member, a state in which the pneumatic generating member is overheated and the pressure according to the pre-entered command is lower than the pre-designed pressure, a state in which the liquefied gas is consumed and not present inside the liquefied gas chamber, and a state in which a portion of the liquefied gas exists inside the liquefied gas chamber. Claim 2 A pneumatic energy generating device according to claim 1, wherein the pneumatic generating unit further comprises: an upper housing accommodating the pneumatic supply member and the pneumatic generating member; and a flow path control valve connected between the liquefied gas chamber and the liquid fluid chamber, which opens or closes according to the pressure of the pneumatic supply member to regulate the supply amount of the liquid fluid supplied to the liquefied gas chamber. Claim 3 In claim 2, the pneumatic reinforcement unit further comprises: a lower housing coupled to the lower part of the upper housing to accommodate the liquefied gas chamber and the liquid fluid chamber; and a check valve located on the upper inner side of the lower housing and connected between the pneumatic supply member and the liquefied gas chamber; wherein the check valve is closed in the direction from the pneumatic supply member to the liquefied gas chamber and is open in the direction from the liquefied gas chamber to the pneumatic supply member. Claim 4 delete Claim 5 A pneumatic energy generating device according to claim 1, wherein the pneumatic energy includes continuous pneumatic energy for continuously supplying energy lower than a preset energy and explosive pneumatic energy for instantaneously supplying energy higher than the preset energy, and the control unit controls the operation of the pneumatic generating member so that the pneumatic supply member supplies pneumatic energy of either the continuous pneumatic energy or the explosive pneumatic energy to the actuator. Claim 6 A pneumatic energy generating device according to claim 2, wherein the control unit controls the operation of the pneumatic generating member and the flow path control valve so as to maintain a preset ratio between the pressure amount of the pressure generated in the pneumatic generating member and supplied to the pneumatic supply member and the vaporization amount of the liquefied gas. Claim 7 delete Claim 8 A pneumatic energy generating device according to claim 2, wherein the pneumatic generating member comprises: a dual piston disposed on the upper inner side of the upper housing and communicating with the pneumatic supply member, and supplying pneumatic pressure generated through linear reciprocating motion to the pneumatic supply member; and a motor connected to at least a part of the dual piston and supplying rotational force to at least a part of the dual piston to cause the dual piston to reciprocate linearly. Claim 9 A pneumatic energy generating device according to claim 3, wherein a seating member is formed on the lower side of the interior of the lower housing to accommodate the lower end of the liquefied gas chamber, and the central part of one side of the lower housing is open so that the liquefied gas chamber can be detachably attached to the interior of the lower housing.

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