JP2017215036A - Fluid pressure actuator drive system, fluid pressure actuator drive pressure source, and fluid pressure actuator drive method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a hydrostatic pressure actuator driving system that facilitates weight saving.SOLUTION: A hydrostatic pressure actuator driving system 1 has a hydrostatic pressure actuator 10 driven by hydrostatic pressure, a gas generation device 20 that can generate gas continuously to yield the hydrostatic pressure, and/or a gas dissolution device that can dissolve gas continuously to yield the hydrostatic pressure.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a fluid pressure actuator drive system including a fluid pressure actuator driven by fluid pressure. The present invention also relates to a pressure source for driving a fluid pressure actuator. Furthermore, the present invention relates to a fluid pressure actuator driving method for driving a fluid pressure actuator by fluid pressure.

  A fluid pressure actuator is used to drive a joint of a robot or a walking assist device or a power assist device mounted on a human body. As a pressure source for driving such a fluid pressure actuator, an air pressure obtained by compressing air with a compressor is generally used (see, for example, Patent Document 1).

International Publication No. 2008/140032

  However, in such a conventional fluid pressure actuator driving system, a relatively large compressor is required, and thus it is difficult to reduce the weight of the system.

  The present invention has been developed to solve such problems, and an object thereof is to provide a fluid pressure actuator drive system that can be easily reduced in weight.

  It is another object of the present invention to provide a fluid pressure actuator driving pressure source that can be easily reduced in weight.

  Furthermore, an object of the present invention is to provide a fluid pressure actuator driving method in which it is easy to reduce the weight of a system for driving a fluid pressure actuator.

The fluid pressure actuator drive system of the present invention includes:
A fluid pressure actuator driven by fluid pressure;
A gas generating device capable of continuously generating a gas to generate the fluid pressure, and / or
A gas dissolving device capable of continuously dissolving gas to generate the fluid pressure;
It is characterized by providing.

  The fluid pressure actuator drive system of the present invention preferably includes the gas generating device.

  In the fluid pressure actuator drive system of the present invention, it is preferable that the gas generating device is configured to generate a gas by a chemical reaction generated by mixing the first substance and the second substance.

  In the fluid pressure actuator drive system of the present invention, the gas generating device is generated by mixing an acid as one of the first substance and the second substance and a carbonate or bicarbonate as the other. It is preferably configured to generate carbon dioxide by a chemical reaction.

  In the fluid pressure actuator drive system of the present invention, one of the first substance and the second substance is citric acid, and the other of the first substance and the second substance is baking soda. It is preferable.

  In the fluid pressure actuator drive system of the present invention, the gas generating device is configured to supply the first substance to the second substance by the pressure of the fluid discharged from the fluid pressure actuator. Preferably it is.

In the fluid pressure actuator drive system of the present invention,
The gas generating device includes:
A gas container in which the second substance is enclosed and gas is continuously generated in a sealed internal space; and
A pressure increasing device for supplying the first substance to the gas container by a pressure of a fluid discharged from the fluid pressure actuator;
It is preferable to provide.

  In the fluid pressure actuator drive system according to the present invention, the gas generating device is configured to supply the first substance to the second substance by power generated by the fluid pressure actuator. Is also preferable.

  In the fluid pressure actuator drive system of the present invention, it is preferable that the gas generation device includes a distribution device that mixes the first substance with the second substance in a plurality of times by a predetermined amount.

  In the fluid pressure actuator drive system of the present invention, it is also preferable that the gas generating device includes an infusion device that drops the first substance by gravity.

  In the fluid pressure actuator drive system of the present invention, it is also preferable that the gas generation device is configured to generate gas by phase transition.

  In the fluid pressure actuator drive system of the present invention, it is preferable that the gas generation device includes a heat application device that applies heat to a substance that is a gas generation source.

  The fluid pressure actuator drive system according to the present invention preferably further includes a gas compressor that compresses the gas generated by the gas generation device and supplies the compressed gas to the fluid pressure actuator side.

  In the fluid pressure actuator drive system of the present invention, it is preferable that the gas generating device includes a vibration applying device that vibrates a substance generating the gas.

Further, the fluid pressure actuator drive system of the present invention includes:
An additional gas generating device capable of continuously generating gas to produce the fluid pressure, and / or
It is also preferable to further include a compressor that compresses outside air and supplies the compressed air to the fluid pressure actuator side.

Further, the fluid pressure actuator drive system of the present invention includes:
A fluid pressure actuator driven by fluid pressure;
The gas for generating the fluid pressure can be continuously generated by continuing the chemical reaction or the phase transition by the pressure of the fluid discharged from the fluid pressure actuator or the power generated by the fluid pressure actuator. A gas generating device;
It is characterized by providing.

  The pressure source for driving the fluid pressure actuator of the present invention is characterized in that gas can be continuously generated to generate fluid pressure for driving the fluid pressure actuator.

Furthermore, the fluid pressure actuator driving method of the present invention includes:
A gas generation step for continuously generating gas;
An actuator driving step of driving a fluid pressure actuator by a fluid pressure generated by the gas generated in the gas generating step;
It is characterized by including.

  According to the present invention, it is possible to provide a fluid pressure actuator drive system that can be easily reduced in weight.

  In addition, according to the present invention, it is possible to provide a fluid pressure actuator driving pressure source that can be easily reduced in weight.

  Furthermore, according to the present invention, it is possible to provide a fluid pressure actuator driving method that can easily reduce the weight of a system for driving the fluid pressure actuator.

1 is a conceptual diagram showing a fluid pressure actuator drive system according to a first embodiment of the present invention. It is a conceptual diagram which shows the modification of the fluid pressure actuator drive system which concerns on 1st Embodiment of this invention. It is a conceptual diagram which shows the fluid pressure actuator drive system which concerns on 2nd Embodiment of this invention. It is a conceptual diagram which shows the fluid pressure actuator drive system which concerns on 3rd Embodiment of this invention. It is a conceptual diagram which shows the fluid pressure actuator drive system which concerns on 4th Embodiment of this invention. It is a conceptual diagram which shows the modification of the fluid pressure actuator drive system which concerns on 4th Embodiment of this invention. It is a conceptual diagram which shows the fluid pressure actuator drive system which concerns on 5th Embodiment of this invention. It is a conceptual diagram which shows the fluid pressure actuator drive system which concerns on 6th Embodiment of this invention. It is a conceptual diagram which shows the fluid pressure actuator drive system which concerns on 7th Embodiment of this invention. It is a conceptual diagram which shows the fluid pressure actuator drive system which concerns on 8th Embodiment of this invention. It is a conceptual diagram which shows the modification of the fluid pressure actuator drive system which concerns on 8th Embodiment of this invention. It is a conceptual diagram which shows the fluid pressure actuator drive system which concerns on 9th Embodiment of this invention. It is a conceptual diagram which shows the fluid pressure actuator drive system which concerns on 10th Embodiment of this invention, and is a figure which shows the state when supplying gas to a fluid pressure actuator. It is a conceptual diagram which shows the fluid pressure actuator drive system which concerns on 10th Embodiment of this invention, and is a figure which shows a state when discharging | emitting gas from a fluid pressure actuator. It is a conceptual diagram which shows the fluid pressure actuator drive system which concerns on 11th Embodiment of this invention.

  Hereinafter, a fluid pressure actuator drive system, a fluid pressure actuator drive pressure source, and a fluid pressure actuator drive method according to an embodiment of the present invention will be described in detail with reference to the drawings.

  First, the fluid pressure actuator 10 used in the fluid pressure actuator drive systems 1 to 8, 60, 70 and 80 according to the first to eleventh embodiments shown in FIGS. 1 to 15 will be described.

  The fluid pressure actuator 10 can be driven by various fluid pressures such as a reciprocating fluid pressure actuator that changes fluid pressure into a reciprocating motion (linear motion) and a rotationally driven fluid pressure actuator that changes fluid pressure into a rotational motion. It may be appropriately selected from the types of fluid pressure actuators. The fluid pressure for driving the fluid pressure actuator can be generated by supplying and discharging fluid to the actuator. As such a fluid, for example, a gas such as carbon dioxide, dimethyl ether, ammonia, or air can be used.

  The reciprocating fluid pressure actuator includes a cylinder type fluid pressure actuator that is driven by applying fluid pressure to at least one fluid chamber defined by a cylinder and a piston, and a shaft that expands in the radial direction by supplying fluid. Examples thereof include an artificial muscle actuator configured to contract in the direction, while contracting in the radial direction by discharging the fluid and extending in the axial direction.

  Here, as a cylinder type fluid pressure actuator, a method in which a fluid pressure is alternately applied to opposing fluid chambers to generate a reciprocating motion, or a method in which the fluid pressure is driven in one direction and a restoring force is obtained by a spring. And so on. In addition, as the artificial muscle actuator, a McKibben type artificial muscle actuator in which the outer side of the elastic cylindrical body is covered with a fiber cord knitted in a sleeve shape, or the elastic cylindrical shape inside the elastic cylindrical body. Examples thereof include an axial fiber-reinforced artificial muscle actuator in which a plurality of fiber cords extending in the axial direction of the body are embedded.

  In addition, as a rotationally driven fluid pressure actuator, for example, a rack and pinion type fluid pressure motor that changes a fluid pressure to a reciprocating motion and then a rotating motion using a rack and pinion, or a fluid pressure to a direct swing motion. Examples include vane-type rotary actuators that change.

  Among the various actuators exemplified here, the artificial muscle actuator is capable of generating a strong force for its light weight, which is advantageous for reducing the weight of the fluid pressure actuator driving systems 1 to 8. Among the artificial muscle actuators, in particular, weight reduction can be realized more advantageously by using the above-described axial fiber reinforced artificial muscle actuator. 1 to 14, an axial fiber reinforced artificial muscle actuator is shown as the fluid pressure actuator 10. In the example of FIG. 15, a cylinder type fluid pressure actuator is shown as the fluid pressure actuator 10.

  Next, the fluid pressure actuator drive system 1 according to the first embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 1, the fluid pressure actuator drive system 1 includes a fluid pressure actuator 10 and a gas generation device 20 as a pressure source for driving the fluid pressure actuator. In order to generate the fluid pressure for driving the fluid pressure actuator 10, the gas generation device 20 is configured to be able to continuously generate gas. Here, “the gas can be continuously generated” means that the gas is not interrupted over a predetermined period in which the supply and discharge of the fluid in the fluid pressure actuator 10 are repeated a plurality of times for driving the fluid pressure actuator 10. It means that it can continue to be generated.

In the present embodiment, the gas generation device 20 is configured to generate a gas by a chemical reaction generated by mixing the first substance 20a and the second substance 20b. Here, the gas generation device 20 includes an acid as one of the first substance 20a and the second substance 20b and a carbonate or hydrogen carbonate as the other of the first substance 20a and the second substance 20b. It is preferably configured to generate carbon dioxide (CO ₂ ) by a chemical reaction caused by mixing.

Here, the combination of “an acid as one of the first substance 20a and the second substance 20b” and “a carbonate or hydrogencarbonate as the other of the first substance 20a and the second substance 20b” is Any combination (eg, citric acid (C ₆ H ₈ O ₇ ) or dilute hydrochloric acid (HCl) and overlay (NaHCO ₃ ) or limestone, as long as carbon dioxide can be produced by the chemical reaction resulting from the mixing thereof. (CaCO ₃ ) and the like) can be used. Among these, it is particularly preferable to use citric acid and sodium bicarbonate from the viewpoints of availability, economy, and safety. In addition, the chemical reaction formula in the case of using citric acid and a multilayer is as follows.
_{C 6 H 8 O 7 + 3NaHCO} 3 → Na 3 C 6 H 5 O 7 + 3H 2 O + 3CO 2

  In addition, as a chemical reaction which produces | generates a carbon dioxide, you may use the fermentation type | formula which used yeast, for example other than what uses said acid and an overlay or limestone. In this case, for example, carbon dioxide can be generated by fermenting glucose with yeast. Further, the gas generation device 20 may be configured to generate a gas other than carbon dioxide, such as nitrogen.

  In the present embodiment, the gas generation device 20 is configured to supply the first substance 20 a to the second substance 20 b by the pressure of the fluid discharged from the fluid pressure actuator 10.

  More specifically, the gas generator 20 includes the gas container 20c in which the second substance 20b is enclosed and gas is continuously generated in the sealed internal space, and the first substance in the gas container 20c. A pressure increasing device 20d for supplying the pressure 20a by the pressure of the fluid discharged from the fluid pressure actuator 10. As the pressure increasing device 20d, a pressure increasing cylinder in which cylinders of different diameters are connected as shown in the figure can be used.

  More specifically, the gas generation device 20 is configured to pressurize the first substance 20a with a pressure medium increased by the pressure increase device 20d and supply the first material 20a to the internal space of the gas container 20c. Yes. In the illustrated case, the first substance 20a is sealed in a container 20e, and the first substance 20a is pushed out of the container 20e by the pressure of air as a pressurized medium pushed out by the pressure intensifier 20d. 20c is supplied.

  In the present embodiment, it is preferable that the first substance 20a supplied to the gas container 20c is a liquid and the second substance 20b enclosed in the gas container 20c is a solid, as shown in the figure. In this case, it is particularly preferable that the first substance 20a is an aqueous citric acid solution and the second substance 20b is sodium bicarbonate.

  In the illustrated case, the gas generating device 20 includes a pipe 20f that connects the pressure increasing side port of the pressure increasing device 20d and the container 20e, and a pipe 20g that connects the container 20e and the gas container 20c. The pipe 20f is provided with a check valve 20h that allows air to be introduced from the atmosphere into the pipe 20f, while preventing the air from being discharged from the pipe 20f to the atmosphere. Further, the pipe 20g is provided with a check valve 20i that allows passage of the first substance 20a from the container 20e side to the gas container 20c side, but prevents passage in the reverse direction.

  The fluid pressure actuator drive system 1 includes a pipe 30 a that connects the gas container 20 c and the fluid pressure actuator 10. The pipe 30a has a control valve (control valve) as a switching valve for switching the flow path between a state where gas can be supplied from the gas container 20c to the fluid pressure actuator 10 and a state where gas can be discharged from the fluid pressure actuator 10. ) 30b is provided. In the illustrated case, the control valve 30b is electrically operated. An adjustment valve (regulator) 30c is provided as a pressure reducing valve for adjusting the internal pressure of the gas container 20c at a position between the gas container 20c and the adjustment valve 30b in the pipe 30a.

  Furthermore, the fluid pressure actuator drive system 1 includes a pipe 30d that connects the adjustment valve 30b and the pressure side port of the pressure increasing device 20d. The pipe 30d is provided with a control valve 30e as a switching valve for switching the flow path between a state in which gas can be discharged from the pipe 30d to the atmosphere and a state in which discharge of gas from the pipe 30d to the atmosphere is blocked. Yes.

  In the fluid pressure actuator drive system 1 of the present embodiment, when the fluid is discharged from the fluid pressure actuator 10, the internal pressure of the fluid pressure actuator 10 and the discharge flow path from the fluid pressure actuator 10 is maintained at a pressure higher than the atmospheric pressure by a predetermined value. It is configured to be.

  Here, the “predetermined value” of the “pressure higher than the predetermined value” is preferably 50 to 100% of the prescribed internal pressure of the fluid pressure actuator 10, more preferably 70 to 100%, and still more preferably 90 to 100%. %, And most preferably 95-100%. Here, the “specified internal pressure” refers to the gauge pressure immediately before the fluid pressure actuator 10 is driven (that is, the movement of the operating portion starts) when the pressure of the fluid supplied to the fluid pressure actuator 10 is increased. Fluid pressure (that is, the maximum fluid pressure that does not cause the fluid pressure actuator 10 to be driven).

  According to such a configuration, when the fluid is discharged from the fluid pressure actuator 10, the pressure medium can be pressurized via the pressure increase device 20d by the pressure of the discharged fluid. And with this pressurized pressurized medium, the first substance 20a can be pushed into the gas container 20c and mixed with the second substance 20b to generate a gas.

  When the fluid pressure actuator 10 is an axial fiber reinforced artificial muscle actuator, for example, the specified internal pressure is 0.1 MPa, and the internal pressure to be held in the gas container 20c, which is a pressure source for driving the fluid pressure actuator 10 The (pressure source target pressure) can be 0.4 MPa.

  In this case, when the gas is discharged from the fluid pressure actuator 10, the internal pressure of the pipe 30d connected to the pressure side port of the pressure increasing device 20d is maintained at the specified internal pressure of 0.1 MPa, and is quadrupled by the pressure increasing device 20d. By increasing the pressure, the internal pressure of the pipe 20f connected to the pressure increasing side port of the pressure increasing device 20d can be maintained at the pressure source target pressure of 0.4 MPa. When the internal pressure of the gas container 20c is lower than 0.4 MPa due to the supply of gas to the fluid pressure actuator 10, the first substance 20a is pushed into the gas container 20c, and the gas is contained in the gas container 20c. The internal pressure of the gas container 20c is recovered to 0.4 MPa or more.

  As described above, the fluid pressure actuator driving system 1 according to the first embodiment of the present invention continuously generates the gas to generate the fluid pressure and the fluid pressure actuator 10 driven by the fluid pressure. A possible gas generator 20. Therefore, according to the fluid pressure actuator driving system 1, since pressure is obtained by generating gas, the pressure source for driving the fluid pressure actuator 10 can be easily reduced in weight compared to the case where a compressor is used as in the prior art. be able to.

  Further, the fluid pressure actuator drive system 1 according to the first embodiment of the present invention is configured so that the gas generation device 20 generates a gas by a chemical reaction caused by mixing the first substance 20a and the second substance 20b. Therefore, the gas can be generated stably.

  In addition, according to the fluid pressure actuator drive system 1 according to the first embodiment of the present invention, the gas generation device 20 includes the acid as one of the first substance 20a and the second substance 20b and the carbonate as the other. Alternatively, a gas can be effectively generated by configuring so as to generate carbon dioxide by a chemical reaction caused by mixing with bicarbonate.

  Moreover, according to the fluid pressure actuator drive system 1 according to the first embodiment of the present invention, one of the first substance 20a and the second substance 20b is citric acid, and the first substance 20a and the second substance are used. A gas can be produced | generated advantageously by making the other of 20b into sodium bicarbonate.

  Further, in the fluid pressure actuator drive system 1 according to the first embodiment of the present invention, the gas generation device 20 changes the first substance 20a to the second substance 20b by the pressure of the fluid discharged from the fluid pressure actuator 10. Since it is configured to supply, energy efficiency can be improved and energy saving of the system can be achieved.

  Further, in the fluid pressure actuator drive system 1 according to the first embodiment of the present invention, the gas generating device 20 continuously generates the gas in the sealed internal space in which the second substance 20b is enclosed. Since the gas container 20c and the pressure increasing device 20d for supplying the gas container 20c with the pressure of the fluid discharged from the fluid pressure actuator 10 are provided to the gas container 20c, the first substance 20a is provided. It can be stably supplied to the second substance 20b.

  Further, in the fluid pressure actuator drive system 1 according to the first embodiment of the present invention, the gas generation device 20 pressurizes the first substance 20a with the pressurizing medium increased in pressure by the pressure increaser 20d. Since it is configured to be supplied to the internal space of the container 20c, the first substance 20a can be supplied to the second substance 20b with a simple configuration.

  Further, according to the fluid pressure actuator driving system 1 according to the first embodiment of the present invention, the first substance 20a supplied to the gas container 20c is a liquid, and the second substance 20b enclosed in the gas container 20c is used. By using a solid, the first substance 20a can be easily supplied to the second substance 20b.

  In addition, according to the fluid pressure actuator drive system 1 according to the first embodiment of the present invention, the fluid pressure actuator 10 expands in the radial direction and contracts in the axial direction by supplying the fluid, while radially contracting by discharging the fluid. By using the artificial muscle actuator configured to contract in the axial direction and extend in the axial direction, the fluid pressure actuator 10 can be easily reduced in weight.

  Moreover, according to the fluid pressure actuator drive system 1 according to the first embodiment of the present invention, the artificial muscle actuator is provided inside the elastic cylindrical body with a plurality of fiber cords extending in the axial direction of the elastic cylindrical body. By using the axial direction fiber reinforced artificial muscle actuator embedded in the fluid pressure actuator 10, the fluid pressure actuator 10 can be easily reduced in weight.

  In this embodiment, the fluid pressure actuator drive system 1 is configured so that gas is supplied from the gas container 20c to the fluid pressure actuator 10, but the fluid pressure actuator drive system 1 has such a configuration. The fluid pressure actuator 10 may be driven by pressurizing a fluid to be supplied to the fluid pressure actuator 10 with the gas from the gas container 20c. In this case, for example, the same device as the pressure increasing device 20d may be provided at a position between the fluid pressure actuator 10 and the regulating valve 30b in the pipe 30a.

  In the present embodiment, the fluid pressure actuator drive system 1 supplies the first substance 20a to the second substance 20b by the pressure of the fluid discharged from the fluid pressure actuator 10 by using the pressure increasing device 20d. However, the fluid pressure actuator drive system 1 is not limited to such a configuration, and supplies the first material 20a to the second material 20b by the power generated by the fluid pressure actuator 10. It may be configured as follows. In this case, for example, a pressure transmission device (rack etc.) for supplying the first substance 20a to the second substance 20b is driven by the power generated by the fluid pressure actuator 10 (rack). -It can be driven by a pinion mechanism or the like.

  Here, “by the power generated by the fluid pressure actuator 10” means not only the case where the work generated by the fluid pressure actuator 10 is used as power, but also the work once, such as elastic energy, pressure accumulation energy, potential energy, etc. It also includes the case where it is used as power after being converted to and stored. Note that “the work generated by the fluid pressure actuator 10” is described when the fluid pressure actuator 10 is an artificial muscle actuator as an example, and occurs when the artificial muscle actuator extends (returns to the original state). This includes not only the case where force is used as power, but also the case where force generated when contracting is used as power, and the case where both expansion and contraction are used as power.

  Next, a fluid pressure actuator drive system 1 ', which is a modification of the fluid pressure actuator drive system according to the first embodiment of the present invention, will be described with reference to FIG.

  As shown in FIG. 2, the fluid pressure actuator drive system 1 ′ of the present modification supplies the first substance 20 a directly from the pressure increasing device 20 d ′ to the gas container 20 c in which the second substance 20 b is enclosed. The configuration is different from the above-described fluid pressure actuator drive system 1 according to the first embodiment, and the other configuration is substantially the same.

  That is, in the present modification, the pressure increasing device 20d ′ is configured as a pressure increasing cylinder in which cylinders of different diameters are connected, and the first substance 20a, which is preferably liquid, is contained in the pressure increasing side cylinder. It is enclosed. The cylinder on the pressure increase side of the pressure booster 20d ′ and the gas container 20c are connected by a pipe 20j ′. The pipe 20j ′ has a first from the pressure booster 20d ′ side to the gas container 20c side. A check valve 20k ′ that allows passage of the substance 20a but prevents passage in the reverse direction is provided.

  The piping 30d is provided with a relief valve 30f 'as a pressure reducing valve in place of the control valve 30e. By this pressure reducing valve, the internal pressure of the pipe 30d connected to the cylinder on the pressure side of the pressure increasing device 20d 'is maintained at a pressure higher than the atmospheric pressure by a predetermined value, as in the first embodiment.

  Then, the pressure on the pressure increasing side of the pressure increasing device 20d 'is increased to the pressure source target pressure by the pressure increasing device 20d'. Therefore, when the internal pressure of the gas container 20c falls below the pressure source target pressure, the first substance 20a is supplied from the cylinder on the pressure increasing side of the pressure increasing device 20d ′ to the gas container 20c to generate gas, and the gas container The internal pressure of 20c can be restored to the pressure source target pressure.

  As described above, in the fluid pressure actuator drive system 1 ′ according to the present modification, the gas generation device 20 ′ as a pressure source for driving the fluid pressure actuator transfers the first substance 20a from the pressure increase device 20d ′ to the gas container 20c. It is configured to supply the internal space. Therefore, according to the fluid pressure actuator drive system 1 ′, the first substance 20 a can be supplied to the second substance 20 b with a simpler configuration.

  Next, the fluid pressure actuator drive system 2 according to the second embodiment of the present invention will be described with reference to FIG. FIG. 3B is a cross-sectional view taken along the line AA in FIG.

  As shown in FIG. 3, in the fluid pressure actuator drive system 2 according to the present embodiment, the gas generation device 21 as a pressure source for driving the fluid pressure actuator has a predetermined amount of the first substance 21a as the second substance 21b. The configuration is different from the fluid pressure actuator drive system 1 according to the first embodiment described above in that it includes a distribution device 21c that performs mixing in a plurality of times, and is substantially the same in other respects.

  More specifically, in the present embodiment, the distribution device 21c has a gas container 21d containing the second substance 21b in a sealed internal space, and a rotation chamber having a quantitative chamber 21e into which the first substance 21a is introduced. A board 21f and a storage container 21h forming a storage chamber 21g for storing the first substance 21a so as to be capable of being introduced into the quantitative chamber 21e are provided.

  In the illustrated case, the fixed-quantity chamber 21e has a cylindrical shape with the top and bottom open. The distribution device 21c has a state in which at least a lower opening of the quantitative chamber 21e is opened with respect to the internal space of the gas container 21d with rotation about the rotation axis 21i of the rotating disc 21f, and The lower opening is configured to be repeatedly closed by the closing plate 21j. The container 21h is arranged so that the first substance 21a is introduced into the quantitative chamber 21e by gravity when the lower opening of the quantitative chamber 21e is closed by the closed plate 21j.

  Therefore, the rotating disk 21f is rotated around the rotation axis 21i by the power generated by the fluid pressure actuator 10 or the pressure of the fluid discharged from the fluid pressure actuator 10, thereby being introduced from the storage chamber 21g into the metering chamber 21e. The made first substance 21a can be supplied by gravity to the second substance 21b accommodated in the internal space of the gas container 21d.

  In the present embodiment, it is preferable that the first substance 21a introduced into the fixed quantity chamber 21e is a solid (for example, a powdery body or a tablet), and the second substance 21b is a liquid. One of the first substance 21a and the second substance 21b is an acid (for example, citric acid or dilute hydrochloric acid), and the other of the first substance 21a and the second substance 21b is a carbonate or bicarbonate (for example, , Sodium bicarbonate or limestone). In this case, in particular, it is preferable that the first substance 20a be solid sodium bicarbonate and the second substance 20b be a liquid citric acid aqueous solution.

  The distribution device 21c may include a reciprocating member that has a fixed volume chamber and can reciprocate by the power generated by the fluid pressure actuator 10, instead of the rotating disk 21f as illustrated. . Further, the turntable 21f may be configured to rotate only in one direction, or may be configured to alternately repeat rotation in one direction and rotation in the other direction.

  As described above, the fluid pressure actuator drive system 2 according to the second embodiment of the present invention distributes the first substance 21a to the second substance 21b and mixes it in a plurality of times by a certain amount. Therefore, gas can be generated stably.

  In addition, the fluid pressure actuator drive system 2 according to the second embodiment of the present invention has a simple configuration because the distribution device 21c includes a turntable 21f having a quantitative chamber 21e into which the first substance 21a is introduced. Thus, the first substance 21a can be supplied to the second substance 21b.

  Further, according to the fluid pressure actuator drive system 2 according to the second embodiment of the present invention, the gas generating device 21 is changed from the first substance 21a to the second substance 21b by the power generated by the fluid pressure actuator 10. By being configured to supply, gas can be generated more stably, energy efficiency can be improved, and energy saving of the system can be achieved.

  In addition, according to the fluid pressure actuator drive system 2 according to the second embodiment of the present invention, the first substance 21a introduced into the metering chamber 21e is a solid, and the second substance 21b is a liquid, thereby distributing. The configuration of the device 21c can be simplified.

  Next, a fluid pressure actuator drive system 3 according to the third embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 4, the fluid pressure actuator drive system 3 according to the present embodiment includes a drip device 22 d in which a gas generation device 22 as a fluid pressure actuator drive pressure source drops the first substance 20 a by gravity. In this respect, the configuration is different from the fluid pressure actuator drive system 1 according to the first embodiment described above, and the other configurations are substantially the same.

  More specifically, in the present embodiment, the gas generating device 22 includes the gas container 20c in which the second substance 20b is enclosed and the gas is continuously generated in a sealed internal space, and the gas container 20c and the first by gravity. A drip device 22d for dropping one substance 20a.

  Therefore, with the passage of time, gas can be continuously generated by supplying the first substance 20a to the second substance 20b at a preset speed.

  Thus, in the fluid pressure actuator drive system 3 according to the third embodiment of the present invention, the gas generating device 22 includes the drip device 22d that drops the first substance 20a by gravity, so that the configuration is simplified. Thus, it is possible to further reduce the weight.

  Next, with reference to FIG. 5, the fluid pressure actuator drive system 4 according to the fourth embodiment of the present invention will be described by way of example.

  As shown in FIG. 5, the fluid pressure actuator drive system 4 according to the present embodiment compresses the gas generated by the gas generator 20 as the fluid pressure actuator drive pressure source and supplies the compressed gas to the fluid pressure actuator 10 side. The configuration is different from the fluid pressure actuator drive system 1 according to the first embodiment described above in that the gas compressor 40 is further provided, and the other configurations are the same.

  In the case illustrated, the gas compressor 40 is provided at a position between the gas container 20c and the regulating valve 30c in the pipe 30a. Note that the gas compressor 40 preferably includes a compression unit that compresses the gas generated by the gas generation device 20 and a tank unit that stores the gas compressed by the compression unit.

  As described above, the fluid pressure actuator drive system 4 according to the fourth embodiment of the present invention further includes the gas compressor 40 that compresses the gas generated by the gas generation device 20 and supplies the compressed gas to the fluid pressure actuator 10 side. As a result, the fluid pressure for driving the fluid pressure actuator 10 can be effectively increased, so that the fluid pressure actuator 10 can be driven at a higher load.

  Moreover, since the gas compressor 40 should just pressurize from the internal pressure of the gas production | generation apparatus 20, it can be made much smaller and lighter than the case where it pressurizes from atmospheric pressure.

  Furthermore, as a modification of the fluid pressure actuator drive system 4, a configuration as shown in FIG. 6 may be adopted. The fluid pressure actuator drive system 4 ′ of this modification is different from the fluid pressure actuator drive system 4 described above in that the gas compressor 40 ′ is disposed in the internal space of the gas container 20c. It has the same configuration.

  According to such a configuration, the configuration for disposing the gas compressor 40 'can be simplified.

  Next, a fluid pressure actuator drive system 5 according to a fifth embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 7, the fluid pressure actuator drive system 5 according to the present embodiment is configured such that the gas generation device 25 as a pressure source for driving the fluid pressure actuator generates gas by phase transition. Thus, the configuration is different from the fluid pressure actuator drive system 1 according to the first embodiment described above, and the configuration is substantially the same in other respects.

  More specifically, in the present embodiment, the gas generation device 25 is configured to generate gas by phase transition from a liquid. That is, the gas generating device 25 includes a liquid 25b that generates a gas by phase transition, and a gas container 25c in which the liquid 25b is sealed in an internal space. Here, various liquids can be used as the liquid 25b, but dimethyl ether is preferably used from the viewpoint of suiting the environment.

  Moreover, it is preferable that the gas production | generation apparatus 25 is provided with the heat provision apparatus (illustration omitted) which heats the substance (this embodiment liquid 25b) used as a gas generation source.

  Moreover, it is preferable that such a heat provision apparatus is comprised so that heat may be transmitted to the substance used as a gas generation source with the flow of the fluid discharged | emitted from the fluid pressure actuator 10. FIG. In this case, the heat applying device defines a flow path for transmitting a heat source such as a heating wire and heat generated by the heat source to the gas container 25c by a flow of fluid discharged from the fluid pressure actuator 10. It is preferable to provide a path forming unit.

  Thus, in the fluid pressure actuator drive system 5 according to the fifth embodiment of the present invention, the gas generation device 25 is configured to generate gas by phase transition. It is possible to reduce the weight.

  In addition, according to the fluid pressure actuator drive system 5 according to the fifth embodiment of the present invention, the gas generating device 25 is provided with a heat applying device that applies heat to a substance that is a gas generation source, so that the gas due to the phase transition is provided. Before the production of ceases due to low temperatures, heat can be applied to continue the production of gas.

  Further, when the heat applying device is configured to transfer heat to the substance that is a gas generation source by the flow of the fluid discharged from the fluid pressure actuator 10, the energy efficiency of the system is improved, Energy saving can be achieved.

  Next, a fluid pressure actuator drive system 6 according to a sixth embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 8, the fluid pressure actuator drive system 6 according to the present embodiment is configured such that the gas generation device 26 as a pressure source for driving the fluid pressure actuator generates gas by phase transition from the solid 26 b. Therefore, the configuration is different from the fluid pressure actuator drive system 5 according to the fifth embodiment described above, and the other configurations are the same.

  More specifically, in the present embodiment, the gas generation device 26 includes a solid 26b that generates a gas by phase transition, and a gas container 26c in which the solid 26b is sealed in an internal space. Here, various kinds of solids 26b can be exemplified, but in the illustrated case, dry ice is used from the viewpoint of suiting the environment. That is, the gas generator 26 is configured to generate carbon dioxide gas by phase transition from dry ice.

  In the illustrated case, the gas generation device 26 includes a drip device 26d that drops water by gravity as a heat application device. That is, the drip device 26d as a heat application device is configured to bring water into contact with dry ice.

  In addition, instead of such a configuration, the heat application device is configured to transmit heat to a substance (in this embodiment, the solid 26b) that is a gas generation source by the flow of fluid discharged from the fluid pressure actuator 10. It may be configured. In this case, the heat application device defines a flow path that transmits a heat source such as a heating wire and heat generated by the heat source to the gas container 26c by a flow of fluid discharged from the fluid pressure actuator 10. A path forming unit.

  When the solid 26b is dry ice, the heat application device may be configured to supply water to the dry ice by the pressure of the fluid discharged from the fluid pressure actuator 10. In this case, for example, the heat applying device includes a pressure increasing device 20d, a container 20e, a pipe 20f, a pipe 20g, a check valve 20h, a check valve 20i, a pipe 30d, and a control valve 30e as shown in FIG. The container 20e can be configured to contain water.

  When the solid 26b is dry ice, the heat application device may be configured to supply water to the dry ice by the power generated by the fluid pressure actuator 10. In this case, for example, a pressurizing device (such as a pressurizing cylinder) for supplying water to dry ice is driven by a power transmission mechanism (such as a rack and pinion mechanism) that is driven by the power generated by the fluid pressure actuator 10. Can be driven.

  As described above, in the fluid pressure actuator drive system 6 according to the sixth embodiment of the present invention, the gas generation device 26 is configured to generate gas by phase transition. It is possible to reduce the weight.

  Further, according to the fluid pressure actuator drive system 6 according to the sixth embodiment of the present invention, the gas generating device 26 is provided with a heat applying device configured to bring water into contact with dry ice, thereby providing a simple configuration. Thus, gas can be generated stably.

  In addition, when the heat applying device is configured to supply water to dry ice by the pressure of the fluid discharged from the fluid pressure actuator 10, the energy efficiency of the system is improved and the energy saving of the system is achieved. Can do.

  Further, even when the heat applying device is configured to supply water to the dry ice by the power generated by the fluid pressure actuator 10, the energy efficiency of the system can be improved and the energy saving of the system can be achieved.

  Further, when the heat application device is the drip device 26d that drops water by gravity, the configuration can be further simplified.

  Next, with reference to FIG. 9, the fluid pressure actuator drive system 7 which concerns on 7th Embodiment of this invention is illustrated and demonstrated.

  As shown in FIG. 9, in the fluid pressure actuator driving system 7 according to the present embodiment, the gas generating device 27 as a pressure source for driving the fluid pressure actuator includes a vibration applying device 27 d that vibrates a substance that generates gas. I have. About another structure, it may be the same as the structure in any case of each embodiment mentioned above. That is, the vibration applying device 27d of the present embodiment can be added to the fluid pressure actuator drive system according to each of the embodiments described above.

  More specifically, in the present embodiment, the fluid pressure actuator drive system 7 is a gas that can continuously generate a gas to generate a fluid pressure actuator 10 and a fluid pressure for driving the fluid pressure actuator 10. The gas generation device 27 includes a gas container 27c in which a substance generating the gas is enclosed and gas is continuously generated in a sealed internal space, and the gas container 27c. And a vibration applying device 27d for vibrating the device.

  In the illustrated case, the vibration applying device 27 d is configured to be driven by the pressure of the fluid discharged from the fluid pressure actuator 10. More specifically, the vibration applying device 27d drives the fluid pressure actuator 27d1 and a fluid pressure actuator (cylinder type in the case of illustration) 27d1 that is operatively connected to the gas container 27c. And a control valve 27d2 serving as a switching valve for switching the fluid flow path. According to such a configuration, the control valve 27d2 increases the pressure of the fluid pressure actuator 27d1 for imparting vibration by the fluid discharged from the fluid pressure actuator 10 and the pressure of the fluid pressure actuator 27d1 for imparting vibration to the atmospheric pressure. This can be realized by switching the flow paths.

  The vibration applying device 27d may be configured to be driven by the power generated by the fluid pressure actuator 10 instead of the illustrated configuration. Further, the vibration applying device 27d may be configured to be driven by the flow of fluid discharged from the fluid pressure actuator 10. In this case, a turbine mechanism or the like driven by a fluid flow can be used.

  Furthermore, the vibration applying device 27d may be configured as a mounting tool for mounting the gas container 27c on an animal such as a human or a robot. According to such a configuration, vibration can be applied to the gas container 27c by the movement of an animal such as a human or a robot. In particular, in the case where the gas container 27c is attached to a portion to which power is applied by the fluid pressure actuator 10 in an animal such as a human being or a robot, the fluid pressure actuator 10 generates the vibration for imparting vibration. This is preferable because no special action other than movement is required.

  Thus, in the fluid pressure actuator drive system 7 according to the seventh embodiment of the present invention, the gas generating device 27 includes the vibration applying device 27d that vibrates the substance that generates the gas, and thus generates gas. The generation of gas can be promoted by applying a stimulus by vibration to the substance.

  Further, when the vibration applying device 27d is configured to be driven by the pressure of the fluid discharged from the fluid pressure actuator 10, the energy efficiency of the system can be improved and the energy saving of the system can be achieved.

  Even when the vibration applying device 27d is configured to be driven by the power generated by the fluid pressure actuator 10, the flow of the fluid discharged from the fluid pressure actuator 10, or the movement of an animal such as a human or a robot. Therefore, it is possible to improve the energy efficiency of the system and save energy of the system.

  Next, a fluid pressure actuator drive system 8 according to the eighth embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 10, the fluid pressure actuator drive system 8 according to the present embodiment further includes a discharged fluid compressor 50 a that compresses the fluid discharged from the fluid pressure actuator 10 and supplies the compressed fluid to the fluid pressure actuator 10. In that respect, the configuration is different from the fluid pressure actuator drive system 1 according to the first embodiment described above, and the configuration is substantially the same in other respects.

  More specifically, in this embodiment, the control valve 30e is not provided in the piping 30d. Instead, the other end of the pipe 50c having one end connected to the pipe 30d is connected to a position between the gas container 20c and the regulating valve 30c in the pipe 30a.

  A discharge fluid compressor 50a is disposed in the pipe 50c. A relief valve 50d as a pressure reducing valve is provided on the upstream side of the exhaust fluid compressor 50a in the pipe 50c. By this pressure reducing valve, the internal pressure of the pipe 30d connected to the cylinder on the pressure side of the pressure increasing device 20d is maintained at a pressure higher than the atmospheric pressure by a predetermined value, as in the first embodiment. The discharged fluid compressor 50a preferably includes a compression section that compresses the fluid discharged from the fluid pressure actuator 10, and a tank section that stores the fluid compressed by the compression section.

  Further, a check valve 50b that allows passage of gas from the exhaust fluid compressor 50a side while preventing passage in the reverse direction is provided at a downstream side position of the exhaust fluid compressor 50a in the pipe 50c. .

  As described above, the fluid pressure actuator drive system 8 according to the eighth embodiment of the present invention includes the discharged fluid compressor 50 a that compresses the fluid discharged from the fluid pressure actuator 10 and supplies the compressed fluid to the fluid pressure actuator 10. Therefore, exhaust energy from the fluid pressure actuator 10 can be regenerated, energy efficiency can be improved, and energy saving of the system can be achieved.

  Further, as a modification of the fluid pressure actuator drive system 8 according to the eighth embodiment of the present invention, a configuration as shown in FIG. 11 may be adopted. The fluid pressure actuator drive system 8 ′ of the present modification further includes a pressure vessel 50 e ′ that stores the fluid discharged from the fluid pressure actuator 10, and a discharge fluid compressor 50 a ′ is disposed in the internal space of the pressure vessel 50 e ′. In other respects, the configuration is different from the fluid pressure actuator drive system 8 described above, and the other configurations are the same.

  According to such a configuration, exhaust energy from the fluid pressure actuator 10 can be regenerated more effectively, energy efficiency can be improved, and energy saving of the system can be achieved.

  Next, a fluid pressure actuator drive system 60 according to a ninth embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 12, the fluid pressure actuator drive system 60 according to the present embodiment further includes an additional gas generation device 61 that can continuously generate gas to generate fluid pressure. The configuration is different from the fluid pressure actuator drive system 1 (see FIG. 1) according to the first embodiment, and the other configurations are substantially the same.

  In the present embodiment, the additional gas generation device 61 has the same configuration as the gas generation device 25 (see FIG. 7) according to the fifth embodiment. More specifically, the gas container 20c is connected to the fluid pressure actuator 10 through the adjustment valve 63, the check valve 67, and the adjustment valve 65 in this order. Further, the additional gas generation device 61 is connected to the fluid pressure actuator 10 through the adjustment valve 62, the check valve 66, and the adjustment valve 65 in this order. Further, the fluid pressure actuator 10 is connected to the pressure increasing device 20d of the gas generating device 20 through the check valve 68 and the adjusting valve 64 in this order.

  A chemical reaction type gas generating device that generates a gas by a chemical reaction like the gas generating device 20 is a phase transition type gas that generates a gas by phase transition, like the additional gas generating device 61 of this embodiment. Compared with the generation device, high pressure can be generated, but the weight of the device for obtaining a predetermined flow rate tends to be heavy. Therefore, as in the present embodiment, the gas is supplied from the phase transition type gas generating device 61 on the low pressure side and then the gas from the chemical reaction type gas generating device 20 on the high pressure side as a system combining both. , The consumption flow rate on the high pressure side can be reduced, and the weight of the entire pressure source can be reduced. Thus, it is preferable to supply the gas from the gas generation device 20 after supplying the gas from the gas generation device 61 in order to reduce the consumption flow rate on the high-pressure side as much as possible. For example, the gas generation device 61 and the gas generation device 20 The gas may be supplied at the same time or alternately.

  In the case of this embodiment, when supplying the gas to the fluid pressure actuator 10, from the state shown in FIG. 12, first, the control valve 62 is opened, and the fluid from the phase change type additional gas generator 61 on the low pressure side. A gas is supplied to the pressure actuator 10 (for example, supplied at 0.3 MPa by phase transition of dimethyl ether), and then the control valve 62 is closed and the control valve 63 is opened, and a chemical reaction type gas generating device 20 on the high pressure side. Is supplied at a high pressure equivalent to that of the gas generator 20 while reducing the gas consumption flow rate from the gas generator 20 by supplying gas from the gas generator (for example, 0.6 MPa by a chemical reaction between citric acid and sodium bicarbonate). The pressure actuator 10 can be driven. The inventor manufactured a gas generating apparatus in which the total amount of gas is 600 NL by a chemical reaction method of citric acid and baking soda, and its weight is about 8.0 kg. Furthermore, the inventor manufactured a gas generating device that makes the total amount of gas 100 NL by the chemical reaction method of citric acid and baking soda, and a gas generating device that makes the total amount of gas 500 NL by the phase transition method of dimethyl ether. The combined weight was measured to be about 2.3 kg. Therefore, in this case, it has been confirmed that the weight can be reduced by about 5.7 kg.

  According to the configuration including the chemical reaction type gas generation device 20 that generates a gas by a chemical reaction and the phase change type additional gas generation device 61 that generates a gas by a phase transition, as in the present embodiment, the pressure The weight of the entire source can be reduced. In addition, in this embodiment, it replaces with the gas production | generation apparatus 20, You may use any of the gas production | generation apparatuses 20 ', 21, and 22 of the other chemical reaction system mentioned above, or the additional gas production | generation apparatus 61 It is good also as what has the same structure as the gas production | generation apparatus 26 mentioned above.

  Further, instead of the configuration including the chemical reaction type gas generation device and the phase transition type additional gas generation device as in the present embodiment, the chemical reaction type gas generation device and the chemical reaction type additional It is good also as a structure provided with a gas production | generation apparatus, and it is good also as a structure provided with the gas production | generation apparatus of a phase transition system, and the additional gas production | generation apparatus of a phase transition system. Moreover, it is good also as a structure provided with two or more additional gas production | generation apparatuses. Moreover, you may use together the compressor which compresses external air and supplies it to the fluid pressure actuator side. That is, for example, by using a small compressor on the low pressure side, the flow rate on the high pressure side can be reduced, and the weight of the entire pressure source can be reduced. For example, in the fluid pressure actuator drive system 60 (see FIG. 12) according to the ninth embodiment, instead of or in addition to the additional gas generation device 61, a compressor that compresses outside air and supplies the compressed air to the fluid pressure actuator 10 side is provided. It is good also as a provided structure. In this case, instead of the gas generating device 20, any of the above-described other chemical reaction type or phase transition type gas generating devices 20 ', 21, 22, 25, and 26 may be used. The additional gas generation device 61 is not limited to one having the same configuration as the gas generation device 25 according to the fifth embodiment.

  Next, a fluid pressure actuator drive system 70 according to a tenth embodiment of the present invention will be described with reference to FIGS.

  As shown in FIG. 13, the fluid pressure actuator drive system 70 according to the present embodiment further includes an additional gas generation device 71 that uses a phase transition from a solid to a gas, and a fluid that undergoes phase transition from a liquid. The configuration is different from the fluid pressure actuator drive system 5 (see FIG. 7) according to the fifth embodiment described above in that the gas supplied to the pressure actuator 10 is returned to the liquid and collected. It has the same configuration.

  More specifically, in this embodiment, the gas generating device 25 ′ using a phase transition from a liquid (for example, dimethyl ether) to a gas passes through the pump 77a, the check valve 72, the evaporator 73, and the regulating valve 74 in this order. The fluid pressure actuator 10 is connected. The evaporator 73 is arranged so as to be able to exchange heat with the outside air, for example, the body temperature of the wearer. Further, an additional gas generating device 71 using a phase transition from a solid (for example, dry ice) to a gas is connected to the fluid pressure actuator 10 through a control valve 78 and a control valve 74 in this order. Further, the fluid pressure actuator 10 is connected to the gas generating device 25 ′ via the control valve 75, the condenser 76, and the pump 77 b in this order. The condenser 76 is arranged so as to be able to exchange heat with the additional gas generation device 71 (a solid thereof). In addition, a relief valve 79 is provided at the connection between the control valve 75 and the condenser 76.

  According to such a configuration, as shown in FIG. 13, the control valve 78 is closed, the control valve 74 is opened, and the control valve 75 is closed. The liquid inside can be sent out by the pump 77a, evaporated by the evaporator 73, and supplied to the fluid pressure actuator 10. At this time, by opening the control valve 78, as shown by a two-dot chain line arrow in FIG. 13, in addition to supplying gas from the gas generating device 25 ′, gas is supplied from the additional gas generating device 71. can do. Note that the gas supply from the gas generation device 25 ′ and the gas supply from the additional gas generation device 71 may be performed after either one is performed first or alternately. Good. Further, when the gas is discharged from the fluid pressure actuator 10, as shown in FIG. 14, the regulator valve 74 is closed and the regulator valve 75 is opened, so that the gas is condensed as shown by the broken line arrow in FIG. Condensate can be collected at 76 (eg, by cooling with dry ice in additional gas generator 71) and recovered in gas generator 25 ′ by pump 77b. In that case, the solid in the additional gas production | generation apparatus 71 can be phase-transitioned to gas by heat exchange with the condenser 76. FIG.

  The fluid pressure actuator drive system 70 may be configured without the pump 77a. In this case, the fluid pressure actuator drive system 70 opens the control valve 74 to vaporize the liquid in the gas generating device 25 ′ and guide it to the evaporator 73, warming the substance vaporized by the evaporator 73 and increasing the pressure. It can be configured to be.

  In the present embodiment, a gas generation device 25 ′ using a phase transition from liquid to gas and an additional gas generation device 71 using a phase transition from solid to gas are provided. Since the gas supplied to 10 is returned to a liquid by heat exchange with the additional gas generation device 71 (solid) and recovered in the gas generation device 25 ′, the gas generation device 25 ′ and the additional gas generation device Both 71 and 71 can be miniaturized to reduce the weight of the entire pressure source.

  As described above, according to the fluid pressure actuator driving system according to the embodiment of the present invention described above, the fluid pressure actuator driven by the fluid pressure, and the gas generating device capable of continuously generating gas to generate the fluid pressure. And an additional gas generating device capable of continuously generating gas to generate the fluid pressure, and / or a compressor that compresses outside air and supplies the compressed air to the fluid pressure actuator side. Thus, the weight of the entire pressure source can be reduced. The additional gas generation device may have the same configuration as the gas generation device, or may have a different configuration. A plurality of additional gas generators may be provided. A plurality of compressors may be provided. The single or multiple additional gas generators and / or single or multiple compressors may be provided in series with the gas generator or in parallel.

  Next, a fluid pressure actuator drive system 80 according to an eleventh embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 15, the fluid pressure actuator drive system 80 according to this embodiment includes a fluid pressure actuator 10 and a gas dissolving device 81. The gas dissolving device 81 is configured to continuously dissolve gas in order to generate a fluid pressure for driving the fluid pressure actuator 10. Here, “the gas can be continuously dissolved” means that the fluid is supplied to and discharged from the fluid pressure actuator 10 for a predetermined period in which the fluid pressure actuator 10 is driven a plurality of times without interruption. It means that it can continue to dissolve.

  In the present embodiment, the gas dissolving device 81 is configured to dissolve the gas by dissolving the gas in a liquid solvent. Here, the gas dissolving device 81 is preferably configured to dissolve ammonia or hydrogen chloride in water. In particular, it is preferable to use ammonia from the viewpoint of safety and the like.

  In the present embodiment, the gas dissolving device 81 is configured to supply the solvent 81k made of a liquid to the gas by the pressure of the fluid discharged from the fluid pressure actuator 10.

  More specifically, the gas dissolving device 81 supplies the dissolution container 81b in which the gas is continuously dissolved in the internal space, and the solvent 81k to the dissolution container 81b by the pressure of the fluid discharged from the fluid pressure actuator 10. A pressure intensifying device 81j. As the pressure increasing device 81j, a pressure increasing cylinder in which cylinders of different diameters are connected as shown in the figure can be used.

  In the illustrated case, the gas dissolving device 81 contains a pressurized gas, a gas container 81a, a gas container 81a, a gas can be supplied from the gas container 81a, and a solvent can be supplied from the solvent container 81c. 81b. The gas dissolving device 81 includes a pipe 81h that connects the pressure increasing side port of the pressure increasing device 81j and the solvent container 81c, and a pipe 81f that connects the solvent container 81c and the dissolving container 81b. The pipe 81h is provided with a check valve 81i that permits the introduction of air from the atmosphere to the pipe 81h while preventing the air from being discharged from the pipe 81h to the atmosphere. The piping 81f is provided with a regulating valve 81g that opens and closes the piping 81f. The gas dissolving device 81 includes a pipe 81d that connects the gas container 81a and the dissolving container 81b, and a control valve 81e that opens and closes the pipe 81d.

  In the present embodiment, the fluid pressure actuator 10 is configured as a cylinder type fluid pressure actuator. As illustrated, in the present embodiment, the fluid pressure actuator 10 includes an air chamber 10a, a gas chamber 10b, a piston 10c that separates the air chamber 10a and the gas chamber 10b, and a direction in which the gas chamber 10b is expanded. Biasing means 10d for biasing. Note that the fluid pressure actuator 10 is not limited to the cylinder type fluid pressure actuator, and may be configured by the above-described axial fiber reinforced artificial muscle actuator, for example.

  The fluid pressure actuator drive system 80 includes a pipe 82 a that connects the dissolution container 81 b and the gas chamber 10 b of the fluid pressure actuator 10. The pipe 82a is allowed to pass gas between the dissolution vessel 81b and the gas chamber 10b of the fluid pressure actuator 10, and gas is allowed to pass between the pipe 82f and the gas chamber 10b of the fluid pressure actuator 10. A control valve 82c is provided as a switching valve for switching the flow path between the state and the state to be performed. For example, a fluid circuit using a gas generator and / or a compressor shown in any of FIGS. 1 to 14 is connected to the pipe 82f, and the fluid circuit and the gas dissolving device 81 are used together. be able to. In addition, it is good also as a system which abbreviate | omits piping 82f and the control valve 82c, and uses only the gas dissolution apparatus 81. FIG. An adjustment valve 82b is provided as a pressure reducing valve for adjusting the internal pressure of the dissolution vessel 81b at a position between the dissolution vessel 81b and the adjustment valve 82c in the pipe 82a.

  Further, the fluid pressure actuator drive system 80 includes a pipe 82d that connects the air chamber 10a of the fluid pressure actuator 10 and the pressure side port of the pressure increasing device 81j. The pipe 82d includes a control valve 82e that switches the flow path between a state that allows passage of air between the atmosphere and the pipe 82d and a state that prevents passage of air between the atmosphere and the pipe 82d. Is provided.

  In the fluid pressure actuator drive system 80 of the present embodiment, when the fluid is discharged from the air chamber 10a of the fluid pressure actuator 10, the operation of the adjustment valve 82e causes the air chamber 10a of the fluid pressure actuator 10 and the discharge flow path therefrom. The internal pressure is maintained at a predetermined value.

  According to such a configuration, first, the control valve 81e is opened, and pressurized gas (for example, ammonia or hydrogen chloride) is supplied from the gas container 81a through the dissolution container 81b to the gas chamber 10b of the fluid pressure actuator 10. And the piston 10c can be driven in a direction in which the gas chamber 10b expands (and therefore the air chamber 10a contracts). At this time, the internal pressure of the air chamber 10a and the pipe 82d is maintained at a predetermined value by the operation of the control valve 82e, and the internal pressure of the pipe 81h and the solvent container 81c is increased through the pressure increasing device 81j. It is held at a predetermined value. Next, the control valve 81g is opened, and a predetermined amount of solvent 81k (for example, water) is supplied from the solvent container 81c to the dissolution container 81b, so that the gas is dissolved in the solvent 81k. The pressure in the gas chamber 10b of the fluid pressure actuator 10 leading to 81b can be reduced. At this time, the control valve 82e is opened, and when the pressure in the gas chamber 10b (plus the biasing force of the biasing means 10d) falls below atmospheric pressure, air from the atmosphere passes through the control valve 82e and the pipe 82d. It is introduced into the air chamber 10a. Therefore, the piston 10c can be driven by the fluid pressure in the air chamber 10a in a direction in which the air chamber 10a expands (thus, the gas chamber 10b contracts). Thus, in the present embodiment, the fluid pressure actuator 10 can be driven by generating a negative fluid pressure by the gas dissolving device 81.

  The fluid pressure actuator drive system 80 of the present embodiment includes a fluid pressure actuator 10 driven by fluid pressure, and a gas dissolving device 81 that can continuously dissolve gas to generate the fluid pressure. As long as various changes can be made. For example, in order to generate a negative fluid pressure for driving the fluid pressure actuator 10, an expander such as a vacuum pump may be used in combination.

  Further, according to the fluid pressure actuator drive system according to the embodiment of the present invention, the fluid pressure actuator driven by the fluid pressure and the pressure of the fluid discharged from the fluid pressure actuator or the power generated by the fluid pressure actuator, It is possible to improve the energy efficiency and facilitate the system by comprising a gas generating device capable of continuously generating the gas for generating the fluid pressure by continuing the chemical reaction or the phase transition. The weight can be reduced.

  The fluid pressure actuator drive system according to each of the above-described embodiments is merely an embodiment of the present invention, and various modifications can be made within the scope of the claims.

  For example, the gas compressor 40 or 40 ′ provided in the fourth embodiment can be applied to other embodiments. Further, the exhaust fluid compressor 50a or 50a 'provided in the eighth embodiment can be applied to other embodiments.

  Next, a fluid pressure actuator driving pressure source according to an embodiment of the present invention will be described as an example. The fluid pressure actuator driving pressure source according to the present embodiment is configured as a gas generation device 20 included in the fluid pressure actuator driving system 1 according to the first embodiment of the present invention described with reference to FIG. . As another embodiment, the fluid pressure actuator driving pressure source includes fluid pressure actuator driving systems 1, 1 ′, 2 to 4 according to the second to tenth embodiments of the present invention described with reference to FIGS. The gas generating devices 20, 20 ′, 21, 22, 25, 27, 27, and 25 ′ included in the 4 ′, 5-8 ′, and 70 can be configured.

  Next, a fluid pressure actuator driving method according to an embodiment of the present invention will be described by way of example.

  The fluid pressure actuator driving method according to the present embodiment has been described above as being used in the fluid pressure actuator driving systems 1 to 8, 1 ′, 4 ′, 8 ′, 60, and 70 according to the first to tenth embodiments. The fluid pressure actuator 10 can be used.

  And the fluid pressure actuator drive method concerning this embodiment drives a fluid pressure actuator by the fluid pressure generated by the gas generation step which generates gas continuously, and the gas generated at the gas generation step. An actuator driving step.

  The fluid pressure actuator driving method according to the present embodiment further includes a fluid discharge step for discharging the fluid from the fluid pressure actuator, and in the gas generation step, the fluid pressure actuator is driven by the pressure of the fluid discharged in the fluid discharge step. The gas may be continuously generated by continuing the chemical reaction or the phase transition.

  Alternatively, in the gas generation step, the gas may be continuously generated by continuing the chemical reaction or phase transition by the power generated by the fluid pressure actuator.

  Alternatively, the fluid pressure actuator driving method according to the present embodiment further includes a fluid discharge step for discharging the fluid from the fluid pressure actuator, and in the gas generation step, the flow of the fluid discharged in the fluid discharge step It is good also as what produces | generates gas by continuing a chemical reaction or a phase transition.

  In any case described above, in the gas generation step, a gas may be generated by a chemical reaction caused by mixing the first substance and the second substance. In this case, in the gas generation step, the gas may be continuously generated by gradually mixing the first substance with the second substance. In this case, it is preferable to use the fluid pressure actuator drive system 1, 1 ', 4, 4', 8 or 8 'according to the first, fourth or eighth embodiment described above.

  Further, instead of gradually mixing the first substance with the second substance in this way, the first substance is mixed with the second substance in a plurality of times by a predetermined amount, The gas may be continuously generated. In this case, it is preferable to use the fluid pressure actuator drive system 2 or 3 according to the second or third embodiment described above.

  In any of the above cases, in the gas generation step, an acid (for example, citric acid or dilute hydrochloric acid) as one of the first substance and the second substance and a carbonate or hydrogen carbonate as the other are used. Carbon dioxide may be generated by a chemical reaction caused by mixing with a salt (for example, sodium bicarbonate or limestone).

  In the case of generating gas by phase transition, the gas may be generated by phase transition of dimethyl ether in the gas generation step. In this case, it is preferable to use the fluid pressure actuator drive system 5 according to the fifth embodiment described above. Alternatively, carbon dioxide gas may be generated by a phase transition of dry ice. In this case, it is preferable to use the fluid pressure actuator drive system 6 according to the sixth embodiment described above.

  In addition, when gas is generated by phase transition, in order to promote the phase transition, heat may be applied to a substance (dimethyl ether, dry ice, or the like) that is a gas generation source in the gas generation step. In the case of using the phase transition of dry ice, water may be brought into contact with the dry ice in the gas generating step in order to heat the dry ice and promote the phase transition.

  In any case described above, the fluid pressure actuator driving method according to the present embodiment compresses the gas generated in the gas generation step by, for example, a compressor and supplies the compressed gas to the fluid pressure actuator side. The pressure step may be further included. In this case, it is preferable to use the fluid pressure actuator drive system 4 or 4 'according to the fourth embodiment described above.

  In any of the cases described above, in order to promote the generation of gas, in the gas generation step, a substance generating the gas may be vibrated. In this case, it is preferable to use the fluid pressure actuator drive system 7 according to the seventh embodiment described above. In this case, the substance generating the gas may be vibrated by the pressure or flow of the fluid discharged from the fluid pressure actuator or the power generated by the fluid pressure actuator. Or you may vibrate the substance which is producing | generating gas by movement of animals, such as a human, or a robot. In this case, for example, a human may vibrate by holding a substance generating gas or a container containing the substance.

  In any of the above cases, the fluid pressure actuator driving method according to the present embodiment compresses the fluid discharged from the fluid pressure actuator in the actuator driving step by using, for example, a compressor, and the fluid pressure actuator. It is also possible to further include an exhaust fluid supply step that is supplied to. In this case, it is preferable to use the fluid pressure actuator drive system 8 or 8 'according to the eighth embodiment described above.

  In any of the cases described above, the fluid pressure actuator driving method according to the present embodiment further includes an additional gas generation step of continuously generating gas by any of the methods described above, and the actuator driving step. The fluid pressure actuator may be driven by the fluid pressure generated by the gas generated in the gas generation step and the gas generated in the additional gas generation step. In this case, it is preferable to use the fluid pressure actuator drive system 60 according to the ninth embodiment or the fluid pressure actuator drive system 70 according to the tenth embodiment.

  In any of the cases described above, the fluid pressure actuator driving method according to the present embodiment further includes an additional gas supply step of compressing the outside air by, for example, a compressor and supplying the compressed air to the fluid pressure actuator side. It may be a thing.

  Further, in any of the cases described above, in addition to the gas generation step for continuously generating gas, a gas dissolution step for continuously dissolving gas is included. The fluid pressure actuator may be driven by the fluid pressure generated by melting. Furthermore, it replaces with the gas production | generation step which produces | generates gas continuously, The gas dissolution step which melt | dissolves gas continuously is included, and a fluid pressure actuator is driven by the fluid pressure generated by melt | dissolution of gas at the said gas dissolution step You may make it do. In this case, it is preferable to use the fluid pressure actuator drive system 80 according to the eleventh embodiment described above.

  The above description shows only one embodiment of the present invention, and it goes without saying that various modifications may be made within the scope of the claims.

  1, 1 ', 2-4, 4', 5-8, 8 ': Fluid pressure actuator drive system, 10: Fluid pressure actuator, 10a: Air chamber, 10b: Gas chamber, 10c: Piston, 10d: Energizing means 20, 20 ': Gas generating device (pressure source for driving fluid pressure actuator), 20a: first material, 20b: second material, 20c: gas container, 20d, 20d': pressure increasing device, 20e: container 20f, 20g, 20j ′: piping, 20h, 20i, 20k ′: check valve, 21: gas generation device, 21a: first material, 21b: second material, 21c: distribution device, 21d: gas container 21e: determination chamber, 21f: turntable, 21g: storage chamber, 21h: storage container, 21i: rotation axis, 21j: closing plate, 22: gas generating device, 22d: infusion device, 25, 25 ': Gas generating device, 25b: Liquid, 25c: Gas container, 26: Gas generating device, 26b: Solid, 26c: Gas container, 26d: Drip device, 27: Gas generating device, 27c: Gas container, 27d : Vibration applying device, 27d1: Fluid pressure actuator, 27d2: Control valve, 30a, 30d: Piping, 30b, 30e: Control valve, 30c: Control valve, 30f ': Relief valve, 40, 40': Gas compressor, 50a , 50a ′: compressor for discharged fluid, 50b: check valve, 50c: piping, 50d: relief valve, 50e ′: pressure vessel, 60: fluid pressure actuator drive system, 61: additional gas generator, 62: control valve 63: Regulating valve, 64: Regulating valve, 65: Regulating valve, 66: Check valve, 67: Check valve, 68: Stop valve, 70: Fluid pressure actuator drive system, 71: Additional gas generator, 72: Check valve, 73: Evaporator, 74: Control valve, 75: Control valve, 76: Condenser, 77a, 77b: Pump 78: Control valve, 79: Relief valve, 80: Fluid pressure actuator drive system, 81: Gas dissolution device, 81a: Gas container, 81b: Dissolution container, 81c: Solvent container, 81d: Piping, 81e: Control valve, 81f : Piping, 81g: Regulating valve, 81h: Piping, 81i: Check valve, 81j: Pressure increasing device, 81k: Solvent, 82a: Piping, 82b: Regulating valve, 82c: Regulating valve, 82d: Piping, 82e: Regulating valve 82f: Piping

Claims (18)

A fluid pressure actuator driven by fluid pressure;
A gas generating device capable of continuously generating a gas to generate the fluid pressure, and / or
A gas dissolving device capable of continuously dissolving gas to generate the fluid pressure;
A fluid pressure actuator drive system comprising:   The fluid pressure actuator drive system according to claim 1, comprising the gas generating device.   The fluid pressure actuator drive system according to claim 2, wherein the gas generation device is configured to generate a gas by a chemical reaction generated by mixing the first substance and the second substance.   The gas generating device is configured to generate carbon dioxide by a chemical reaction generated by mixing an acid as one of the first substance and the second substance and a carbonate or hydrogen carbonate as the other. 4. The fluid pressure actuator drive system according to claim 3, wherein:   The fluid pressure actuator drive system according to claim 4, wherein one of the first substance and the second substance is citric acid, and the other of the first substance and the second substance is baking soda. .   The gas generation device is configured to supply the first substance to the second substance according to a pressure of a fluid discharged from the fluid pressure actuator. The fluid pressure actuator drive system described in 1. The gas generating device includes:
A gas container in which the second substance is enclosed and gas is continuously generated in a sealed internal space; and
A pressure increasing device for supplying the first substance to the gas container by a pressure of a fluid discharged from the fluid pressure actuator;
The fluid pressure actuator drive system according to claim 6.   5. The fluid pressure actuator drive according to claim 3, wherein the gas generation device is configured to supply the first substance to the second substance by power generated by the fluid pressure actuator. 6. system.   The fluid pressure actuator drive system according to claim 3, wherein the gas generation device includes a distribution device that mixes the first substance with the second substance in a plurality of times by a predetermined amount.   The fluid pressure actuator drive system according to any one of claims 3 to 5, wherein the gas generation device includes a drip device that drops the first substance by gravity.   The fluid pressure actuator drive system according to claim 2, wherein the gas generation device is configured to generate gas by phase transition.   The fluid pressure actuator drive system according to claim 11, wherein the gas generation device includes a heat application device that applies heat to a substance that is a gas generation source.   The fluid pressure actuator drive system according to any one of claims 2 to 12, further comprising a gas compressor that compresses the gas generated by the gas generation device and supplies the compressed gas to the fluid pressure actuator side.   The fluid pressure actuator drive system according to any one of claims 2 to 13, wherein the gas generation device includes a vibration applying device that vibrates a substance generating the gas. An additional gas generating device capable of continuously generating gas to produce the fluid pressure, and / or
The fluid pressure actuator drive system according to any one of claims 2 to 14, further comprising a compressor that compresses outside air and supplies the compressed air to the fluid pressure actuator side. A fluid pressure actuator driven by fluid pressure;
The gas for generating the fluid pressure can be continuously generated by continuing the chemical reaction or the phase transition by the pressure of the fluid discharged from the fluid pressure actuator or the power generated by the fluid pressure actuator. A gas generating device;
A fluid pressure actuator drive system comprising:   A pressure source for driving a fluid pressure actuator, wherein a gas can be continuously generated to generate a fluid pressure for driving the fluid pressure actuator. A gas generation step for continuously generating gas;
An actuator driving step of driving a fluid pressure actuator by a fluid pressure generated by the gas generated in the gas generating step;
A fluid pressure actuator driving method characterized by comprising:

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