Low-temperature vaporized gas-based high-speed driving device and wearable muscular strength assisting device including same

Abstract

One embodiment of the present invention provides a low-temperature vaporized gas-based high-speed driving device and a wearable muscular strength assisting device including same, wherein the low-temperature vaporized gas-based high-speed driving device has sufficient power to assist human muscular strength and is capable of high-speed driving to assist a rapid movement such as running. Here, the low-temperature vaporized gas-based high-speed driving device comprises: a receiving unit; a pneumatic cylinder unit; a flow path unit; and a control valve unit. The receiving unit receives a liquid that vaporizes at a low temperature. The pneumatic cylinder unit operates by receiving low-temperature vaporized gas generated when the liquid is discharged from the receiving unit and undergoes low-temperature vaporization. The flow path unit connects the receiving unit and a pneumatic cylinder and guides the movement of the low-temperature vaporized gas. The control valve unit controls the movement of the low-temperature vaporized gas and the operation of the pneumatic cylinder by opening and closing the flow path unit.

Description

High-speed driving device based on low-temperature vaporized gas and wearable muscle strength assistance device including the same

[0001] The present invention relates to a high-speed driving device based on low-temperature vaporized gas and a wearable muscle assist device including the same, and more particularly, to a high-speed driving device based on low-temperature vaporized gas capable of high-speed driving capable of assisting rapid movements such as running and having sufficient power to assist human muscle strength, and a wearable muscle assist device including the same.

[0002]

[0003] Recently, the need for wearable robots to assist human running ability has emerged.

[0004] Technologies being developed for wearable robots include motor-based methods and shape memory alloys. However, these technologies face limitations in terms of speed and power.

[0005] Recently, research is being conducted to drive soft pneumatic actuators, also called artificial muscles, using liquid nitrogen (LN2) in wearable robots to assist running ability.

[0006] Soft pneumatic actuators utilize the phenomenon of thermoplastic polyurethane (TPU) contracting longitudinally after expanding it widthwise by blowing high-pressure gas into it. However, these soft pneumatic actuators are inadequate for assisting running, as they lack the speed and power to do so. Furthermore, using high-pressure gases like liquid nitrogen to achieve high output can lead to TPU becoming brittle due to its temperature-related properties, which can compromise durability.

[0007] Therefore, there is a need to develop a drive that can generate great power and fast driving speed.

[0008]

[0009] Republic of Korea Patent Publication No. 2021-0065644 (published on June 4, 2021)

[0010]

[0011] The purpose of the present invention to solve the above problems is to provide a low-temperature vaporized gas-based high-speed driving device capable of high-speed driving capable of assisting rapid movements such as running and a wearable muscle assist device including the same, which has sufficient power to assist human muscle strength.

[0012]

[0013] The technical problems to be solved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0014]

[0015] In order to achieve the above object, the present invention provides a low-temperature vaporization gas-based high-speed driving device, characterized by including: a receiving portion for receiving a low-temperature vaporized liquid; a pneumatic cylinder portion for operating by receiving low-temperature vaporized gas generated by low-temperature vaporization while the liquid is discharged from the receiving portion; a flow path portion for connecting the receiving portion and the pneumatic cylinder and guiding the movement of the low-temperature vaporized gas; and a control valve portion for opening and closing the flow path portion to control the movement of the low-temperature vaporized gas and the operation of the pneumatic cylinder.

[0016] In an embodiment of the present invention, the pneumatic cylinder part may have a cylinder, a piston unit having a piston that reciprocates inside the cylinder, and a rod connected to the piston, a first elastic part provided at one end of the cylinder and that generates a repulsive force in a second direction opposite to the first direction when pressurized by the piston unit moving in a first direction, and a second elastic part provided at the other end of the cylinder and that generates a repulsive force in the first direction when pressurized by the piston unit moving in the second direction.

[0017] In an embodiment of the present invention, the first elastic member is provided at one end inside the cylinder and can be pressurized by the piston moving in the first direction.

[0018] In an embodiment of the present invention, the second elastic member is provided at the other end inside the cylinder and can be pressurized by the piston moving in the second direction.

[0019] In an embodiment of the present invention, the pneumatic cylinder part has a support flange fixedly installed on the outside of the other end of the cylinder, and a pressure flange provided on the outer circumferential surface of the rod and moving integrally with the rod on the outside of the cylinder, and the second elastic part is provided on the outside of the other end of the cylinder, one end of which is fixed to the support flange, and can be pressurized by the pressure flange moving in the second direction.

[0020] In an embodiment of the present invention, the flow path may have a first flow path connected to the receiving portion and guiding the movement of low-temperature vaporized gas supplied from the receiving portion, a second flow path connecting the first flow path and the first port of the cylinder and guiding the low-temperature vaporized gas to the first port, a third flow path connecting the first flow path and the second port of the cylinder and guiding the low-temperature vaporized gas to the second port, and a recirculation flow path connecting the second flow path and the third flow path and guiding the low-temperature vaporized gas inside the cylinder to be supplied to the second port through the first port or to the first port through the second port.

[0021] In an embodiment of the present invention, the control valve unit may have a first valve that is provided to connect the first flow path, the second flow path, and the third flow path, and that allows the first flow path to be connected to the second flow path or the third flow path, a second valve that is provided in the second flow path and opens and closes the second flow path, a third valve that is provided in the third flow path and opens and closes the third flow path, and a fourth valve that is provided in the recirculation flow path and opens and closes the recirculation flow path.

[0022] In an embodiment of the present invention, when the piston unit pressurizes the first elastic portion and then moves in the second direction, the fourth valve may allow low-temperature vaporized gas inside the cylinder to be discharged from the second port and introduced into the first port, and when the piston pressurizes the second elastic portion and then moves in the first direction, the fourth valve may allow low-temperature vaporized gas inside the cylinder to be discharged from the first port and introduced into the second port.

[0023] Meanwhile, in order to achieve the above technical task, one embodiment of the present invention provides a wearable muscle strength assistance device, characterized by including: a low-temperature vaporization gas-based high-speed driving device; a wearable case part that accommodates the low-temperature vaporization gas-based high-speed driving device inside and is worn on a user's torso; and a muscle strength assistance part that is worn on a user's thigh at one end, is connected to a piston unit of the pneumatic cylinder part at the other end, and assists the user's leg movement by moving back and forth in a straight line in conjunction with the piston unit.

[0024] In an embodiment of the present invention, the muscle assistance unit may have a cable unit that is connected at one end to the piston unit of the pneumatic cylinder unit and moves linearly back and forth in conjunction with the piston unit, and a fixed band that is worn and fixed on the user's thigh and to which the other end of the cable unit is connected.

[0025] In an embodiment of the present invention, the pneumatic cylinders are provided in pairs, the cable portions are respectively connected to the pair of pneumatic cylinders, the fixing bands are respectively worn on the user's right thigh and left thigh, the cable portion connected to one of the pair of pneumatic cylinders is connected to the fixing band worn on the user's right thigh, and the cable portion connected to the other of the pair of pneumatic cylinders is connected to the fixing band worn on the user's left thigh.

[0026]

[0027] The effect of the present invention according to the above configuration is that the low-temperature vaporized gas-based high-speed driving device is driven by low-temperature vaporized gas rather than air, and includes a first elastic part and a second elastic part to utilize elastic restoring force as the driving force of the piston unit, and recirculates and uses the low-temperature vaporized gas inside the cylinder, thereby implementing significantly improved performance in terms of power, operating range, force, and speed, thereby meeting the performance requirements for assisting human running.

[0028]

[0029] 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 detailed description of the present invention or the composition of the invention described in the claims.

[0030]

[0031] FIG. 1 is a schematic diagram showing a high-speed driving device based on low-temperature vaporized gas according to one embodiment of the present invention.

[0032] FIG. 2 is an exemplary diagram showing an example of a high-speed driving device based on low-temperature vaporized gas according to one embodiment of the present invention.

[0033] FIG. 3 is an exemplary diagram showing a pneumatic cylinder of a high-speed driving device based on low-temperature vaporized gas according to one embodiment of the present invention.

[0034] Figures 4a to 4d are exemplary diagrams showing an example of operation of a pneumatic cylinder of a low-temperature vaporized gas-based high-speed driving device according to one embodiment of the present invention.

[0035] FIG. 5 is an exemplary diagram showing another example of a high-speed driving device based on low-temperature vaporized gas according to one embodiment of the present invention.

[0036] Figure 6 is an exemplary diagram showing a wearable muscle strength assistance device according to one embodiment of the present invention.

[0037] Figure 7 is an exemplary diagram showing an example of wearing a wearable muscle strength assistance device according to one embodiment of the present invention.

[0038]

[0039] A most preferred embodiment according to the present invention is characterized by including a receiving portion for receiving a low-temperature vaporized liquid; a pneumatic cylinder portion for operating by receiving low-temperature vaporized gas generated by low-temperature vaporization while the liquid is discharged from the receiving portion; a flow path portion for connecting the receiving portion and the pneumatic cylinder and guiding the movement of the low-temperature vaporized gas; and a control valve portion for controlling the movement of the low-temperature vaporized gas and the operation of the pneumatic cylinder by opening and closing the flow path portion.

[0040]

[0041] Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention can be implemented in various different forms and is therefore not limited to the embodiments described herein. In the drawings, irrelevant parts have been omitted for clarity of description, and similar parts have been designated with similar reference numerals throughout the specification.

[0042] Throughout the specification, when a part is said to be "connected (connected, contacted, joined)" to another part, this includes not only cases where it is "directly connected," but also cases where it is "indirectly connected" with another part in between. Furthermore, when a part is said to "include" a component, this does not exclude other components, but rather implies that it may include other components, unless otherwise specifically stated.

[0043] The terminology used herein is for the purpose of describing specific embodiments only and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, it should be understood that the terms “comprise” or “have” specify the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0044] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0045] FIG. 1 is a schematic diagram showing a high-speed driving device based on low-temperature vaporized gas according to one embodiment of the present invention.

[0046] As shown in Fig. 1, a low-temperature vaporized gas-based high-speed driving device may include a receiving portion (100), a pneumatic cylinder portion (300), a flow path portion (400), and a control valve portion (500).

[0047] The receiving portion (100) can receive a liquid that vaporizes at low temperature.

[0048] The liquid discharged from the receiving unit (100) can be vaporized at low temperature and generated as low temperature vaporized gas. The receiving unit (100) can discharge the low temperature vaporized gas at a constant pressure and may have a regulator for this purpose.

[0049] In the receiving unit (100), low-temperature vaporized gas of about 20 atm can be supplied, thereby enabling the movement speed of the piston unit (320) of the pneumatic cylinder (310) to become faster.

[0050] Here, the low-temperature vaporizing liquid may be liquid nitrogen (LN2), liquid carbon dioxide, etc. For example, if the low-temperature vaporizing liquid is liquid nitrogen (LN2), the low-temperature vaporizing gas may be nitrogen gas.

[0051] In the following, the low-temperature vaporizing liquid is described as liquid nitrogen (LN2), and the low-temperature vaporizing gas is described as nitrogen gas.

[0052] The pneumatic cylinder part (300) can be operated by nitrogen gas supplied from the receiving part (100).

[0053] The euro portion (400) connects the receiving portion (100) and the pneumatic cylinder (310) and can guide the movement of nitrogen gas.

[0054] The control valve unit (500) controls the movement of nitrogen gas by opening and closing the euro unit (400), thereby controlling the operation of the pneumatic cylinder (310).

[0055] In the current air-operated pneumatic cylinder, the contraction speed is about 1.6 Hz at a stroke displacement of about 0.18 m. And, the contraction force under the operation with 1.6 Hz is about 80 N. However, the performance of these conventional air-based pneumatic cylinders does not provide the actuation speed and force required to assist a human running. In other words, the performance of the pneumatic cylinder required to assist a human running is a stroke displacement of at least 0.27 m, a contraction speed of at least 5 Hz, a contraction time of 0.2 s, and a contraction force of at least 250 N.

[0056] The liquid nitrogen-based high-speed driving device according to the present invention is driven by nitrogen gas rather than air, and includes a first elastic part and a second elastic part to be described later, thereby being able to satisfy the performance requirements for assisting a person's running.

[0057] FIG. 2 is an exemplary diagram showing an example of a liquid nitrogen-based high-speed driving device according to one embodiment of the present invention.

[0058] As shown in FIG. 2, the pneumatic cylinder unit (300) may have a cylinder (310), a piston unit (320), a first elastic unit (330), and a second elastic unit (340).

[0059] A first port (303) may be provided at one end (301) of the cylinder (310), and a second port (304) may be provided at the other end (302).

[0060] The piston unit (320) may have a piston (321) and a rod (322).

[0061] The piston (321) can reciprocate inside the cylinder (310). The rod (322) can be connected to the piston (321).

[0062] The first elastic member (330) may be provided at one end (301) of the cylinder (310). In addition, the first elastic member (330) may be pressurized by a piston unit (320) moving in a first direction (A1). Then, the first elastic member (330) may generate a repulsive force in a second direction (A2) opposite to the first direction (A1).

[0063] In this embodiment, the first elastic member (330) may be provided at one end (301) inside the cylinder (310) and may be pressurized by a piston (321) moving in the first direction (A1).

[0064] The second elastic member (340) may be provided at the other end (302) of the cylinder (310). In addition, the second elastic member (340) may be pressurized by a piston unit (320) moving in the second direction (A2). Then, the second elastic member (340) may generate a repulsive force in the first direction (A1).

[0065] In this embodiment, the second elastic member (340) may be provided at the other end (302) inside the cylinder (310) and may be pressurized by a piston (321) moving in the second direction (A2).

[0066] And, the euro section (400) can have a first euro section (410), a second euro section (420), a third euro section (430), and a recirculating euro section (440).

[0067] The first euro (410) can be connected to the receiving unit (100) and can guide the movement of nitrogen gas supplied from the receiving unit (100).

[0068] The second euro (420) can connect the first euro (410) and the first port (303) of the cylinder (310), and can guide nitrogen gas moving from the first euro (410) to the first port (303).

[0069] The third euro (430) can connect the first euro (410) and the second port (304) of the cylinder (310), and can guide nitrogen gas moving from the first euro (410) to the second port (304).

[0070] When nitrogen gas is supplied to the first port (303) through the second passage (420), the piston (321) can move in the second direction (A2). And, when nitrogen gas is supplied to the second port (304) through the third passage (430), the piston (321) can move in the first direction (A1).

[0071] The recirculation path (440) can connect the second path (420) and the third path (430). The recirculation path (440) can guide nitrogen gas inside the cylinder (310) to be supplied to the second port (304) through the first port (303), or can guide it to be supplied to the first port (303) through the second port (304).

[0072] And, the control valve unit (500) may have a first valve (510), a second valve (520), a third valve (530), and a fourth valve (540).

[0073] The first valve (510) may be provided to connect the first flow path (410), the second flow path (420), and the third flow path (430). The first valve (510) may connect the first flow path (410) to the second flow path (420), or may connect the first flow path (410) to the third flow path (430). That is, the first valve (510) may selectively control the nitrogen gas of the first flow path (410) to be supplied to the second flow path (420) or to the third flow path (430).

[0074] The second valve (520) can be provided in the second flow path (420) and can open and close the second flow path (420).

[0075] In addition, the third valve (530) can be provided in the third flow path (430) and can open and close the third flow path (430).

[0076] The fourth valve (540) can be installed in the recirculation path (440) and can open and close the recirculation path (440).

[0077] And, the euro section (400) may have a first exhaust passage (450) and a second exhaust passage (460).

[0078] The first exhaust path (450) can be connected to the second valve (520). And, the second exhaust path (460) can be connected to the third valve (530).

[0079] When the second passage (420) is opened by the second valve (520) and nitrogen gas is moved to the second passage (420) by the first valve (510) and supplied to the first port (303), the piston unit (320) moves in the second direction (A2), and the rod (322) can move in the outer direction of the cylinder (310).

[0080] And, when the third passage (430) is opened by the third valve (530) and nitrogen gas is moved to the third passage (430) by the first valve (510) and supplied to the second port (304), the piston unit (320) moves in the first direction (A1), and the rod (322) can move inwardly into the cylinder (310). At this time, the second valve (520) connects the second passage (420) and the first exhaust passage (450), and therefore, the nitrogen gas inside the cylinder (310) pressurized by the piston (321) can be discharged through the first port (303) and exhausted to the first exhaust passage (450).

[0081] In the same way, when the second passage (420) is opened by the second valve (520) and the first exhaust passage (450) is closed, and nitrogen gas is moved to the second passage (420) by the first valve (510) and supplied to the first port (303), the piston unit (320) moves in the second direction (A2). At this time, the third valve (530) connects the third passage (430) and the second exhaust passage (460), and therefore, the nitrogen gas inside the cylinder (310) pressurized by the piston (321) can be discharged through the second port (304) and exhausted to the second exhaust passage (460).

[0082] Meanwhile, when the piston (321) moves in the first direction (A1), the piston (321) can pressurize the first elastic part (330). Then, the first elastic part (330) is compressed and can generate a repulsive force in the second direction (A2).

[0083] And, when the piston (321) moves in the second direction (A2), the piston (321) can pressurize the second elastic part (340). Then, the second elastic part (340) is compressed and can generate a repulsive force in the first direction (A1).

[0084] This repulsive force generated by the first elastic member (330) can increase the speed and force of the piston (321) when it moves in the second direction (A2). In addition, this repulsive force generated by the second elastic member (340) can increase the speed and force of the piston (321) when it moves in the first direction (A1), thereby ensuring that the required performance for muscle assistance is met.

[0085] FIG. 3 is an exemplary diagram showing a pneumatic cylinder of a liquid nitrogen-based high-speed driving device according to an embodiment of the present invention.

[0086] Referring to Figure 3, first, pressure (P) is applied to the piston (321) and the time (t) for extension is set to the displacement (s) in the second direction. e ) and maximum speed (vmax),

[0087] Equation (1) --- And,

[0088] Equation (2) --- am.

[0089] Here m p is the sum of the mass of the load (322) and the cable section (310, see Fig. 8), is the load attenuation coefficient due to friction on the wall of the cylinder (310), A is the area of ​​the piston (321), L is the load applied during extension, and v0 is the initial speed of the piston (321).

[0090] At this time, when the piston (321) starts to expand in the second direction, the repulsive force of the first elastic part (330) acts on the piston (321), so assuming v0 = 1.0 m / s, m p = 0.5 kg, P= 1.5 MPA, If = 0.95, L = 250 N, s = 200 mm,

[0091] Equation (3) --- And,

[0092] Equation (4) --- am.

[0093] If, assuming that there is no first elastic part (330) and second elastic part (340), and the inner diameter of the cylinder = 20 mm,

[0094] From equation (1) am.

[0095] And, since there is no first elastic part (330) and second elastic part (340), assuming v0 = 0 m / s, t = 0.227 [s] from equation (2).

[0096] That is, if the first elastic part (330) and the second elastic part (340) are not provided, the time (t) for the piston (321) to extend by the displacement (s) is 0.227 [s], whereas if the first elastic part (330) and the second elastic part (340) are provided, the time (te) for the piston (321) to extend by the displacement (s) can be about 1.7 times faster, at 0.132 [s].

[0097] And, looking at the transition (2d) time (ts) by the first elastic part (330) and the second elastic part (340),

[0098] Equation (5) --- And,

[0099] Equation (6) --- am.

[0100] Here, k is the spring constant and d is the spring diameter.

[0101] And, equation (7) --- And,

[0102] Equation (8) --- and,

[0103] Equation (9) --- since,

[0104] Equation (10) --- am.

[0105] And, the time (t) for the piston unit (320) to move (Flexion) by a displacement (s) in the first direction f ) and velocity (vf ) if you look at it,

[0106] Equation (11) --- And,

[0107] Equation (12) --- am.

[0108] Here, If = 0.8,

[0109] Equation (13) --- And,

[0110] Equation (14) --- am.

[0111] Therefore, the time (t) for the piston unit (320) to reciprocate total )silver

[0112] Equation (15) --- = 0.372 [s].

[0113] As mentioned above, the contraction time is 0.2 [s] to implement the minimum contraction speed performance of 5 Hz, which is required for assisting human running of the pneumatic cylinder, and this is the required performance in the one-way movement of the piston in the pneumatic cylinder. Therefore, the reciprocating movement of the piston must satisfy 2.5 Hz and 0.4 [s], and the pneumatic cylinder part according to the present invention can implement 0.372 [s] as the reciprocating movement time of the piston.

[0114] Figures 4a to 4d are exemplary diagrams showing an operation example of a pneumatic cylinder of a liquid nitrogen-based high-speed driving device according to one embodiment of the present invention.

[0115] As shown in Fig. 4a, when nitrogen gas (10) flows into the second port (304) through the third flow path (430), the pressure (P1) in the space to the right of the piston (321) increases, and accordingly, the piston unit (320) moves in the first direction (A1).

[0116] When the movement of the piston unit (320) in the first direction (A1) continues, the piston (321) presses the first elastic part (330), the first elastic part (330) is compressed, and the piston unit (320) is stopped (see FIG. 4b).

[0117] And, when nitrogen gas (10) flows into the first port (303) through the second flow path (420), the pressure (P2) in the space to the left of the piston (321) increases, and accordingly, the piston unit (320) moves in the second direction (A2). At the same time, as the first elastic part (330) is restored to its original shape, this restoring force is applied to the piston (321), so that the piston (321) can quickly move in the second direction (A2) (see FIGS. 4c and 4d).

[0118] When the piston unit (320) pressurizes the first elastic member (330) and moves in the second direction (A2), the fourth valve (540) can cause nitrogen gas in the space to the right of the piston (321) inside the cylinder (310) to be discharged from the second port (304) and introduced into the first port (303) through the recirculation path (440). In this way, the force due to the elastic restoring force of the first elastic member (330), the pressure due to the nitrogen gas (10) supplied to the second path (420), and the pressure due to the nitrogen gas introduced through the first port (303) can be combined to forcefully push the piston (321) instantaneously. Therefore, the piston unit (320) can be moved in the second direction (A2) more quickly.

[0119] In the same way, when the piston unit (320) pressurizes the second elastic member (340) and then moves in the first direction (A1), the fourth valve (540) can cause the nitrogen gas in the space to the left of the piston (321) inside the cylinder (310) to be discharged from the first port (303) and introduced into the second port (304) through the recirculation path (440). Through this, the force due to the elastic restoring force of the second elastic member (340), the pressure due to the nitrogen gas (10) supplied to the third path (430), and the pressure due to the nitrogen gas introduced through the second port (304) can be combined to forcefully push the piston (321) instantaneously, and the piston unit (320) can be moved in the first direction (A1) more quickly.

[0120] Meanwhile, when the piston unit (320) moves in one direction, it may be necessary to output a greater force, whereas when it moves in the other direction, it may be possible to output a relatively smaller force.

[0121] For example, if it is necessary to output a greater force when the piston unit (320) moves in the second direction (A2) than when it moves in the first direction (A1), as shown in FIGS. 4c and 4d, by supplying nitrogen gas (10) through the second flow path (420) and simultaneously controlling the fourth valve (540) so that the nitrogen gas in the space to the right of the piston (321) is discharged from the second port (304) and introduced into the first port (303) through the recirculation flow path (440), the piston (321) can be moved more quickly in the second direction (A2). In addition, at this time, the piston unit (320) moves by the pressure of the nitrogen gas (10) supplied through the second flow path (420), the pressure of the nitrogen gas supplied through the recirculation flow path (440), and the force of the elastic restoring force of the first elastic part (330), so that a strong force can be output.

[0122] Then, when the piston unit (320) moves in the first direction (A1), nitrogen gas is not supplied from the receiving portion through the third flow path (430), and only nitrogen gas is introduced into the first port (303) through the second port (304) and the recirculation flow path (440), so that the piston unit (320) can be moved in the first direction (A1) only by the pressure of the nitrogen gas supplied through the recirculation flow path (440) and the force of the elastic restoring force of the second elastic portion (340). In this way, the nitrogen gas in the receiving portion can be saved, and the nitrogen gas inside the cylinder (310) can be reused, which can be economical.

[0123] Such cases can be used in a wearable muscle assist device including a liquid nitrogen-based high-speed driving device according to the present invention (see Fig. 7). That is, when a user runs, more force is required when stretching the leg backward and hitting the ground. In this case, the wearable muscle assist device can generate pressure by supplying nitrogen gas from a receiving portion, generate additional pressure through nitrogen gas circulated through a recirculation path, and generate force by utilizing the elastic restoring force of the elastic portion, thereby generating high speed and great force.

[0124] On the other hand, since the user does not need a relatively large force when the foot is moved forward, sufficient speed and force can be generated by using only the pressure from the nitrogen gas circulated through the recirculation path and the elastic restoring force of the elastic part without supplying nitrogen gas to the receiving part.

[0125] Meanwhile, FIG. 5 is an exemplary diagram showing another example of a liquid nitrogen-based high-speed driving device according to an embodiment of the present invention. As shown in FIG. 5, the second elastic part may be provided on the outside of the cylinder.

[0126] For this purpose, the pneumatic cylinder (310) may have a support flange (350) and a pressurizing flange (360).

[0127] The support flange (350) can be fixedly installed on the outside of the other end (302) of the cylinder (310). A through hole (351) can be formed in the support flange (350), and the rod (322) can be moved through the through hole (351).

[0128] A pressure flange (360) may be provided on the outer surface of the rod (322). The pressure flange (360) may move integrally with the rod (322) on the outside of the cylinder (310).

[0129] The second elastic member (340a) may be provided on the outside of the other end (302) of the cylinder (310). Specifically, one end of the second elastic member (340a) may be fixed to the support flange (350). When the piston unit (320) moves in the second direction (A2), the pressurizing flange (360) may pressurize the second elastic member (340a). Even if the second elastic member (340a) is provided on the outside of the cylinder (310), the resulting operating mechanism of the pneumatic cylinder member (300) and its effect may be the same as in the above-described embodiment in which the second elastic member is provided on the inside of the cylinder (310).

[0130] Below, a wearable muscle assist device including the aforementioned liquid nitrogen-based high-speed actuator is described.

[0131] FIG. 6 is an exemplary diagram showing a wearable muscle strength assistance device according to an embodiment of the present invention, and FIG. 7 is an exemplary diagram showing an example of wearing a wearable muscle strength assistance device according to an embodiment of the present invention.

[0132] As shown in FIGS. 6 and 7, the wearable muscle assist device may include a low-temperature vaporized gas-based high-speed driving device (1000), a wearing case (2000), and a muscle assist device (3000).

[0133] Since the low-temperature vaporization gas-based high-speed driving device (1000) has been described above, explanation of repetitive content will be omitted as much as possible.

[0134] In the wearable muscle strength assistance device according to the present invention, the pneumatic cylinder (310) and the control valve unit (500) may each be provided as a pair.

[0135] In addition, nitrogen gas supplied from the receiving unit (100) can be selectively controlled and supplied by a pair of control valve units (500), through which the extension and contraction of the piston unit in each pneumatic cylinder (310) can be individually controlled, and through which the muscle strength of the user's left and right legs can be independently assisted.

[0136] The wearable case part (2000) may have a case (2100) and a wearable band (2200).

[0137] The case (2100) can accommodate a low-temperature vaporization gas-based high-speed driving device (1000) inside.

[0138] The wearable band (2200) can be connected to the case (2100) and fixed to the torso (21) of the user (20). This allows the case (2100) to be worn on the torso (21) of the user.

[0139] The muscle assist unit (3000) is worn on the thigh (22) of the user (20) at one end and connected to the piston unit of the pneumatic cylinder unit (300) at the other end. The muscle assist unit (3000) can assist the leg movement of the user (20) by moving back and forth in a straight line in conjunction with the piston unit.

[0140] Specifically, the strength assistance unit (3000) may have a cable unit (3100) and a fixed band (3200).

[0141] And, the cable section (3100) may have a wire (3110) and a cover tube (3120).

[0142] One end of the wire (3110) may be connected to an installation hole (3130) provided at the outer end of the rod (322). The other end of the wire (3110) may be connected to a fixed band (3200). The wire (3110) may move linearly and reciprocally in conjunction with the piston unit. To ensure stable force transmission by the wire (3110), each pneumatic cylinder unit (300) may be provided with a pair of wires (3110).

[0143] The fixed band (3200) can be worn and fixed on the right thigh (22) and left thigh (22) of the user (20), respectively. The width and number of the fixed bands (3200) fixed to the thighs (22) are not particularly limited and can be appropriately selected.

[0144] The case (2100) can be worn on the back of the user (20), and thus, the wire (3110) can be provided from the back of the user (20) to the back of the thigh (22).

[0145] The cover tube (3120) can accommodate a wire (3110) on the inside. One end of the cover tube (3120) can be fixed to the outside of the cylinder (310). A Bowden cable can be used as the cable portion (3100).

[0146] A cable portion (3100) connected to one of the pair of pneumatic cylinders (310) may be connected to a fixed band (3200) worn on the right thigh (22) of the user (20), and a cable portion (3100) connected to the other of the pair of pneumatic cylinders (310) may be connected to a fixed band (3200) worn on the left thigh of the user.

[0147] Referring to Fig. 6, when the load (322) moves upward, the wire (3110) is pulled upward and the fixed band (3200) can be pulled. This pulls the thigh (22) of the user (20) backward, thereby assisting the motion of the user (20) pulling the leg backward, which can assist the muscle strength when the user (20) kicks the ground with the thigh backward while running.

[0148] In this way, the wearable muscle strength assistance device according to the present invention can effectively assist muscle strength during the user's running motion.

[0149]

[0150] The foregoing description of the present invention is for illustrative purposes only, and those skilled in the art will readily appreciate that the present invention can be readily modified into other specific forms without altering the technical spirit or essential characteristics 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 entity may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined manner.

[0151] The scope of the present invention is indicated by the claims described below, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention.

[0152]

[0153] [Explanation of symbols]

[0154] 100: Receiving part 300: Pneumatic cylinder part

[0155] 320: Piston unit 321: Piston

[0156] 322: Load 330: First elastic section

[0157] 340: Second elastic part 340a: Second elastic part

[0158] 400: Euro 440: Recirculating Euro

[0159] 500: Control valve section 540: 4th valve

[0160] 1000: High-speed drive device based on low-temperature vaporized gas

[0161] 2000: Wearing case part 3000: Muscle support part

[0162] 3100: Cable section

Claims

1. A receiving section in which a liquid that vaporizes at low temperature is received; A pneumatic cylinder section that operates by receiving low-temperature vaporized gas generated by low-temperature vaporization while the above liquid is discharged from the above-mentioned receiving section; A flow path connecting the above-mentioned receiving portion and the above-mentioned pneumatic cylinder and guiding the movement of low-temperature vaporized gas; and A high-speed drive device based on low-temperature vaporized gas, characterized by including a control valve section that controls the movement of low-temperature vaporized gas and the operation of the pneumatic cylinder by opening and closing the above-mentioned euro section.

2. In paragraph 1, The above pneumatic cylinder part Cylinder and, A piston unit having a piston that reciprocates inside the cylinder and a rod connected to the piston, A first elastic part provided at one end of the cylinder and which, when pressurized by the piston unit moving in the first direction, generates a repulsive force in a second direction opposite to the first direction; A low-temperature vaporized gas-based high-speed driving device characterized by having a second elastic member provided at the other end of the cylinder and generating a repulsive force in the first direction when pressurized by the piston unit moving in the second direction.

3. In paragraph 2, A low-temperature vaporized gas-based high-speed driving device, characterized in that the first elastic member is provided at one end of the inside of the cylinder and is pressurized by the piston moving in the first direction.

4. In paragraph 2, A low-temperature vaporized gas-based high-speed driving device, characterized in that the second elastic member is provided at the other end inside the cylinder and is pressurized by the piston moving in the second direction.

5. In paragraph 2, The above pneumatic cylinder part A support flange fixedly installed on the outside of the other end of the above cylinder, It has a pressure flange which is provided on the outer surface of the above load and moves integrally with the load on the outside of the above cylinder, A low-temperature vaporized gas-based high-speed driving device, characterized in that the second elastic member is provided on the outside of the other end of the cylinder, one end is fixed to the support flange, and is pressurized by a pressurizing flange that moves in the second direction.

6. In paragraph 2, The above Euro part A first path connected to the above-mentioned receiving portion and guiding the movement of low-temperature vaporized gas supplied from the above-mentioned receiving portion, A second path connecting the first path and the first port of the cylinder and guiding low-temperature vaporized gas to the first port, A third path connecting the first path and the second port of the cylinder and guiding low-temperature vaporized gas to the second port, A high-speed drive device based on low-temperature vaporized gas, characterized in that it has a recirculation path that connects the second path and the third path and guides low-temperature vaporized gas inside the cylinder to be supplied to the second port through the first port or to the first port through the second port.

7. In paragraph 6, The above control valve part A first valve which is provided to connect the first euro, the second euro and the third euro, and which allows the first euro to be connected to the second euro or the third euro, A second valve provided in the second euro and opening and closing the second euro, A third valve provided in the third euro and opening and closing the third euro, A low-temperature vaporized gas-based high-speed driving device characterized by having a fourth valve provided in the above recirculation path and opening and closing the above recirculation path.

8. In paragraph 7, When the piston unit pressurizes the first elastic member and moves in the second direction, the fourth valve causes the low-temperature vaporized gas inside the cylinder to be discharged from the second port and flow into the first port. A low-temperature vaporized gas-based high-speed driving device, characterized in that when the piston pressurizes the second elastic member and moves in the first direction, the fourth valve causes the low-temperature vaporized gas inside the cylinder to be discharged from the first port and introduced into the second port.

9. A high-speed drive device based on low-temperature vaporized gas described in any one of clauses 1 to 8; A wearable case part that houses the above low-temperature vaporization gas-based high-speed driving device inside and is worn on the user's torso; and A wearable muscle assistance device characterized in that it includes a muscle assistance unit that is worn on the user's thigh at one end and connected to the piston unit of the pneumatic cylinder unit at the other end and moves linearly back and forth in conjunction with the piston unit to assist the movement of the user's legs.

10. In paragraph 9, The above muscle assist unit A cable section having one end connected to the piston unit of the above pneumatic cylinder section and moving in a straight line reciprocally in conjunction with the piston unit; A wearable muscle strength assistance device characterized by having a fixed band that is worn and fixed on a user's thigh and to which the other end of the cable portion is connected.

11. In paragraph 10, The above pneumatic cylinders are provided in pairs, the cable portions are respectively connected to the pair of pneumatic cylinders, and the fixing bands are respectively worn on the user's right thigh and left thigh. The cable portion connected to one of the pair of pneumatic cylinders is connected to the fixed band worn on the user's right thigh, A wearable muscle strength assistance device, characterized in that the cable portion connected to the other of the pair of pneumatic cylinders is connected to the fixed band worn on the user's left thigh.

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