KR20190011354A - Apparatus for adjusting temperature, apparatus for driving artificial muscle module and robot using the same - Google Patents

Abstract

The present invention relates to a temperature adjusting device that can adjust temperature of water to be mixed by adjusting flow rates of hot water and cold water, a drive apparatus for an artificial muscle module that is connected to the artificial muscle module to reduce time delay phenomenon according to an installation position of the artificial muscle module, and a robot using the same. The temperature adjusting device includes a first receiving part for receiving a first hot fluid of which a temperature is preset; a second receiving part for receiving a second cold fluid of which a temperature lower than that of the first fluid is preset; a first channel for guiding the first fluid discharged from the first receiving part; a second channel for guiding the second fluid discharged from the first receiving part; a mixing part having a first branched portion connected to the first channel, a second branched portion connected to the second channel, and a mixing channel directly connected to a target object, of which a temperature is regulated, for mixing the first and second fluids, to mix the first and second fluids; and a first regulating part provided in the first branched portion, of which a volume is varied according to pressure conditions provided from the exterior, or in the first regulating part is moved in a longitudinal direction of the first branched portion to open or close the first branched portion, thereby regulating a flow rate of the first fluid.

Description

TECHNICAL FIELD [0001] The present invention relates to a temperature control device, an artificial muscle module driving device, and a robot using the same,

The present invention relates to a temperature control device, a driving device and a robot for an artificial muscle module using the same, and more particularly, to a temperature control device and an artificial muscle module which can control the temperature of water to be mixed by controlling the flow rates of hot and cold water, To a driving device and a robot for an artificial muscle module, which can reduce a control time delay phenomenon depending on an installation position of an artificial muscle module.

In general, the vital muscles respond by electrical signals transmitted from nerve cells. Similarly, the artificial muscles are made to react by external electrical input and perform the substitute function of the living muscles.

These artificial muscles are usually rehabilitation robots that serve as limbs for persons with difficult physical activities, but also work robots that perform tasks in special environments where human beings are difficult to work directly, such as space exploration or submarine exploration or nuclear power plants, And for high-end products such as microelectromechanical systems (MEMS) for highly complex operations.

Artificial muscles are mainly used as heat-responsive driving devices, such as Shape-memory Alloys (SMA), shape memory resins, carbon nanotubes, nylon, etc., which shrink or expand due to temperature changes.

For example, shape memory alloys require effective heating and cooling structures to achieve high operating speeds. Conventionally, a heating method using electric resistance or a cooling method using air or water has been used.

However, in the case of the heating method using the electric resistance, the response of the artificial muscle is low, the energy consumption is high, and the electric power is increased in order to increase the load capacity of the artificial muscle, and electrical insulation is essential.

On the other hand, when water is used as a method of supplying heat to the thermal reaction driving element or lowering the temperature of the thermal reaction driving element, the control time may be delayed depending on the installation position of the artificial muscle. That is, as the supply distance of the working water becomes longer, the arrival time of the operating water becomes slower, which makes it difficult to quickly control the displacement of the artificial muscle and to control the force.

Korean Patent Laid-Open Publication No. 2016-0013663 (published Feb. 201, 2016)

In order to solve the above problems, a technical object of the present invention is to provide a temperature control device capable of adjusting the temperature of water to be mixed by adjusting the flow rate of hot water and low temperature water, And to provide a driving device and a robot for an artificial muscle module in which a control time delay phenomenon depending on a position can be reduced.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. There will be.

According to an aspect of the present invention, there is provided an apparatus for supplying a fluid having a predetermined high temperature, A second accommodating portion for accommodating a second fluid at a predetermined low temperature lower than the temperature of the first fluid; A first flow path connected to the first accommodating portion and guiding the first fluid discharged from the first accommodating portion to be transported; A second flow path connected to the second accommodating portion and guiding the second fluid discharged from the second accommodating portion to be transported; A first branch portion connected to the first flow path portion, a second branch portion connected to the second flow path portion, and a second branch portion directly connected to the temperature control object and being transported through the first flow path portion, A mixing portion having a mixing flow path portion in which the second fluid transported through the two flow paths are mixed with each other; In addition, the volume of the first fluid may be varied according to a pressure condition provided from the outside in the state of being provided inside the first branch, or may be moved along the longitudinal direction of the first branch to open or close the first branch, And a first control part having a first opening and closing part for opening and closing the first opening and closing part.

In an embodiment of the present invention, the volume of the second fluid may be varied in accordance with a pressure condition provided from the outside in the state of being provided inside the second branch, or may be moved along the longitudinal direction of the second branch, And a temperature controller for controlling the temperature of the mixed fluid flowing into the temperature control object by controlling the operation of the first controller and the second controller.

According to an embodiment of the present invention, the first adjusting unit may include a first driving unit provided on the outer side of the first flow path unit to supply and recover an operating pressure, and a second driving unit that has one end connected to the first opening / And the other end extending through the first flow path portion and provided to the outside of the first flow path portion is connected to the first drive portion and is connected to the first flow path portion through the first flow path portion, The first opening and closing part may reduce the passage area of the first branching part when the operating pressure is supplied and increase the passage area of the first branching part when the operating pressure is recovered.

In an embodiment of the present invention, the first opening and closing part is provided on the inner side of the first branch part, and has a first hole formed at one end in a direction of transporting the first fluid and a first hole connected to one end of the first connection part And a second hole formed in the first housing and extending in the longitudinal direction of the first housing through the first hole and protruding along the circumferential direction on the inner circumferential surface of the first branch, A first blocking member formed in a conical shape so as to close a first through hole of the first step portion and a second blocking member provided on the inner side of the first housing so that the first blocking sound is moved in a direction away from the first step portion, The first blocking member may be moved to close the first through hole when an operating pressure is supplied from the first driving unit through the first connecting unit.

In an embodiment of the present invention, the first opening and closing part is provided inside the first branch part and is formed to expand and contract, and when the operating pressure is supplied from the first driving part through the first connection part, And a first expansion / contraction portion for closing the branch portion and contracting when the operating pressure is recovered from the first driving portion through the first connection portion to open the first branch portion.

In an embodiment of the present invention, the first step may be further formed along the circumferential direction so as to be in close contact with the expanded first inflated / deflated portion on the inner circumferential surface of the first branched portion.

In an embodiment of the present invention, the first concave-convex part may be formed along the circumferential direction so as to be in close contact with the expanded first inflated / deflated part on the inner circumferential surface of the first branched part.

According to an embodiment of the present invention, a first groove may be formed in the inner circumferential surface of the first branch portion along a circumferential direction, and a first sealing member may be provided in the first groove to be in close contact with the expanded inflated / have.

In the exemplary embodiment of the present invention, the first adjusting unit may include a first driving unit provided on the outer side of the first flow path unit and providing a pulling force, and one end connected to the first opening and closing unit on the inner side of the first flow path, And a first connecting portion extending through the first flow path portion and extending outwardly from the first flow path portion and connected to the first driving portion to transmit the pulling force to the first opening and closing portion, The first opening and closing part may increase the passage area of the first branch part when the pulling force is provided, and reduce the passage area of the first branch part when the operating pressure is removed.

The first opening and closing part may be provided on the inner side of the first branching part and is moved in the longitudinal direction of the first branching part and protruded along the circumferential direction on the inner circumferential surface of the first branching part. A first blocking member formed in a conical shape so as to close the first through hole and a second blocking member connected to the first blocking member and the first blocking member so that the first blocking member seals the first through- Wherein the first engaging portion is spaced apart from the first step portion by a pulling force transmitted to the first connecting portion by the first driving portion, and the first engaging portion is spaced apart from the first step portion by the pulling force transmitted to the first connecting portion by the first driving portion, 1 < / RTI >

According to another aspect of the present invention, there is provided an apparatus for controlling a heat pump, comprising: a heat reaction driver having a shape deformed while being reacted by heat; a fluid supplying heat to the heat reaction driver; The present invention also provides a driving device for an artificial muscle module having an elastic member that is deformed together with a reaction driving unit, and includes a temperature control device described above, and the mixing part further includes a sealing part coupled to one end of the elastic part to seal one end of the elastic part. To the artificial muscle module.

According to an embodiment of the present invention, the sealing portion may include a first through hole formed to pass through the thermal reaction driving portion corresponding to a position of the thermal reaction driver, and a first fixing portion, .

According to another aspect of the present invention, there is provided an apparatus for controlling a heat pump, comprising: a heat reaction driver having a shape deformed while being reacted by heat; a fluid supplying heat to the heat reaction driver; An artificial muscle module having an elastic part deformed together with a reaction driving part; And the temperature control device described above, wherein the temperature control device adjusts the temperature of the working fluid supplied to the artificial muscle module to drive the artificial muscle module.

According to the embodiment of the present invention, the mixing part is directly connected to the artificial muscle module, and the mixing part is provided with the branch part, so that the high temperature water and the low temperature water are respectively introduced into the artificial muscle module, Thereby enabling the response of the artificial muscle module to be accelerated.

According to an embodiment of the present invention, when a plurality of artificial muscle modules are to be controlled, a working fluid of a desired temperature and flow rate is supplied through the operation of the first adjusting section and the second adjusting section combined with the artificial muscle module Can be generated. Then, the generated working fluid is directly transferred to the artificial muscle module, so that the artificial muscle module can be operated quickly. Therefore, even if the artificial muscle module is provided at a long distance with respect to the first accommodating portion and the second accommodating portion, the delay of the control time can be effectively prevented.

It should be understood that the effects of the present invention are not limited to the effects described above, but include all effects that can be deduced from the description of the invention or the composition of the invention set forth in the claims.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing an example of a temperature control apparatus according to a first embodiment of the present invention; FIG.
FIG. 2 is an exemplary view showing a temperature control object and a mixing part of the temperature control device according to the first embodiment of the present invention.
FIG. 3 is an exemplary view showing a first adjusting unit and a second adjusting unit of the temperature adjusting apparatus according to the first embodiment of the present invention.
4 is a view illustrating an example of a portion of a robot having a temperature controller according to the first embodiment of the present invention.
5 and 6 are views illustrating the first opening and closing part and the second opening and closing part of the temperature control device according to the first embodiment of the present invention.
7 to 9 are views showing the first opening / closing part of the temperature control device according to the second embodiment of the present invention.
10 is an exemplary view showing a first opening and closing part of the temperature control device according to the third embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is referred to as being "connected" (connected, connected, coupled) with another part, it is not only the case where it is "directly connected" "Is included. Also, when an element is referred to as " comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is an exemplary view showing a temperature control device according to a first embodiment of the present invention, FIG. 2 is an exemplary view showing a temperature control object and a mixing part of the temperature control device according to the first embodiment of the present invention, FIG. 3 is an exemplary view showing a first adjusting unit and a second adjusting unit of the temperature adjusting apparatus according to the first embodiment of the present invention, FIG. 4 is a view showing a robot having the temperature adjusting apparatus according to the first embodiment of the present invention, And FIGS. 5 and 6 are views illustrating the first and second opening / closing parts of the temperature control device according to the first embodiment of the present invention.

1 to 6, the temperature regulating device includes a first accommodating part 100, a second accommodating part 200, a first flow path part 300, a second flow path part 400, a mixing part 500 And a first adjustment unit 610. The first adjustment unit 610 may include a first adjustment unit 610 and a second adjustment unit 610. [

The first receiving portion 100 can receive the first fluid. The first fluid may be a predetermined high temperature fluid, for example, hot water. The first accommodating portion 100 may have a heating device 110 for heating the received first fluid to a predetermined high temperature.

Further, the second accommodating portion 200 can receive the second fluid. The second fluid may be a predetermined low temperature fluid which is lower than the temperature of the first fluid, and may be, for example, low temperature water. The second accommodating portion 200 may have a cooling device 210 for cooling the received second fluid to a predetermined low temperature.

The first flow path portion 300 may be connected to the first receiving portion 100 and guide the first fluid discharged from the first receiving portion 100 to be transported. The first channel unit 300 may be connected to the mixing unit 500 and may guide the first fluid in the first accommodation unit 100 to be transported to the mixing unit 500.

The first pressure unit 310 may be connected to the first flow unit 300 and the first pressure unit 310 may provide pressure to transport the first fluid along the first flow unit 300. A pump may be used as the first pusher 310.

The second flow path unit 400 may be connected to the second storage unit 200 and guide the second fluid discharged from the second storage unit 200 to be transported. The second flow path unit 400 may be connected to the mixing unit 500 and may guide the second fluid in the second storage unit 200 to be transported to the mixing unit 500.

The second pressure unit 410 may be connected to the second flow unit 400 and the second pressure unit 410 may provide pressure to transport the second fluid along the second flow unit 400. A pump may be used as the second pressing unit 410.

The mixing unit 500 may have a first branching unit 510, a second branching unit 520, and a mixing channel unit 530.

The first branching part 510 and the second branching part 520 may be formed so as to be branched from the mixing channel part 530. The first branch portion 510 may be connected to the first flow path portion 300 and the second branch portion 520 may be connected to the second flow path portion 400.

The mixed flow path portion 530 may be directly connected to the temperature control object 10.

Here, the temperature control object 10 may be an artificial muscle module, and the temperature control device may generate and supply a working fluid for shrinking or relaxing the artificial muscle module. Through this, the temperature control object can be included in the driving device of the artificial muscle module.

The artificial muscle module may have a thermal reaction driver 11 and a stretchable and contractible portion 12.

The thermal reaction driver 11 may be formed of a shape memory alloy material responsive to heat, and may be formed in the form of a spring. Referring to the drawings, the thermal reaction driver 11 is shown as a pair of shape memory alloy springs, but is not limited thereto. The thermal reaction driver 11 may be formed not only of a shape memory alloy material but also various heat responsive materials such as a shape memory resin, a shape memory polymer (SMP), a carbon nanotube carbon nanotubes, polyethylene, polyamide, nylon, and the like.

The stretchable and contractible portion 12 accommodates the thermal reaction driver 11 inside and can be deformed in shape corresponding to the shape deformation of the thermal reaction driver 11. [ The stretchable and contractible portion 12 is shown in the form of a corrugated tube or a bellows tube, but the present invention is not limited thereto. The stretchable and contractible portion 12 may be of any shape as long as it has a material or structure deformable by an external force. In the interior of the stretchable and contractible part 12, a fluid for providing heat to the thermal reaction drive part 11 can be received.

The fluid that provides heat can flow through one end of the stretchable and contractible portion 12 and be discharged to the other end, and both ends of the stretchable and contractible portion 12 can be respectively sealed.

Hereinafter, it is assumed that the temperature control object 10 is an artificial muscle module.

The mixed flow path portion 530 may allow the first fluid to flow through the first flow path portion 300 and the second fluid to flow through the second flow path portion 400 to be mixed with each other. In this way, a working fluid for providing heat to the thermal reaction driver 11 can be generated in the mixed flow passage part 530. If the working fluid is water, the working fluid may be working water.

The mixing portion 500 may further include a sealing portion 540. The hermetically sealed portion 540 can be coupled to one end of the stretchable and contractible portion 12 and can close one end of the stretchable and contractible portion 12.

The sealing portion 540 may have a first through hole 541 and the first through hole 541 may be formed to correspond to the position of the thermal reaction driver 11. [ The first fixing hole 542, to which one end of the thermal reaction driver 11 is fixed, may be coupled to the first through hole 541.

The stopper portion 13 may be provided at the other end of the stretchable and contractible portion 12 and the second through hole 14 may be formed in the stopper portion 13 to correspond to the position of the thermal reaction drive portion 11, The second fixing hole 15, to which the other end of the thermal reaction driver 11 is fixed, may be coupled to the second through hole 14.

The mixing portion 500 further includes the sealing portion 540, whereby leakage of the operating water flowing into the stretchable and contractible portion 12 can be effectively prevented.

The mixing flow path portion 530 has a length capable of being sufficiently mixed so that the first fluid and the second fluid flowing into the first branch portion 510 and the second branch portion 520, respectively, become a working fluid at a required temperature . In the present invention, the first fluid and the second fluid, which flow into the first branching part 510 and the second branching part 520, respectively, are mixed in the mixing flow path part 530, (12). ≪ / RTI >

The first regulator 610 may adjust the flow rate of the first fluid by controlling the amount of opening and closing of the first branch 510. For this, the first adjusting unit 610 may have a first opening and closing unit 620, a first driving unit 630, and a first connecting unit 640.

Here, the first opening and closing part 620 is provided inside the first branching part 510, and the volume of the first opening and closing part 620 may be varied according to the pressure condition provided from the outside, or may be moved along the longitudinal direction of the first branching part 510 It is possible to open and close the first branch 510.

In this embodiment, the first opening and closing part 620 may have a first housing 621, a first blocking member 622, and a first elastic member 623.

The first housing 621 may be provided on the inner side of the first branch 510. A first hole 624 may be formed through one end of the first housing 621 and a second hole 625 may be formed through the other end of the first housing 621 with respect to the direction of transport of the first fluid.

The first blocking member 622 may be provided on the inner side of the first housing 621 and may be moved in the longitudinal direction of the first housing 621 through the first hole 624. A first step portion 511 may protrude from the inner circumferential surface of the first branch portion 510 along the circumferential direction and the first step portion 511 may have a first through hole 512. [ The first blocking member 622 may be formed in a conical shape to seal the first through-hole 512. That is, when the first blocking member 622 is moved toward the first step portion 511 and the front end of the first blocking member 622 is inserted into the first through hole 512, the first through hole 512 can be sealed have.

The first elastic member 623 may be provided inside the first housing 621 and may provide an elastic force such that the first blocking member 622 is moved in a direction away from the first step portion 511 .

The first driving unit 630 may be provided outside the first flow path unit 300. The first driving unit 630 may be provided at a position where the first and second accommodating units 100 and 200 and the first and second pressing units 310 and 410 are provided in consideration of various conditions such as ease of wiring, It would be possible to arrange them in close proximity.

The first connection part 640 may be provided to extend along the first flow path part 300 from the inside of the first flow path part 300. One end of the first connection part 640 may extend to the inside of the first branch part 510 and may be connected to the first opening and closing part 620. Specifically, one end of the first flow path unit 300 may be connected to the second hole 625 of the first housing 621.

The first connection portion 640 may extend outwardly of the first flow path portion 300 through the first hole 301 formed in the first flow path portion 300. The other end of the first connection part 640 extending to the outside of the first flow path part 300 may be connected to the first driving part 630.

The first connection part 640 may supply the operating pressure of the first driving part 630 to the first opening and closing part 620. Here, the operating pressure supplied from the first driving unit 630 may be an air pressure. When the air pressure generated in the first driving part 630 is supplied through the first connection part 640 and the pressure inside the first housing 621 increases, the first blocking sound 622 is pressurized And can be moved in the direction of the first step portion 511.

 The first drive portion 630 may have the piston 631 and the cylinder 632 so that the air pressure can be supplied at the operating pressure but is not necessarily limited to such a configuration and may be configured to provide the air pressure at the operating pressure If there are various configurations possible.

The first blocking member 622 is fixed by the first elastic member 623 to the first step portion 640 by the air pressure supplied through the first connecting portion 640 in a state in which the first blocking member 622 is fixed by the first elastic member 623 511, and the first through hole 512 can be closed. When the operation pressure supplied to the first housing 621 is recovered, that is, when the supply of the air pressure is stopped in the first driving unit 630, the first blocking member 622 is moved to the restoring force of the first elastic member 623 To the initial position and the first through hole 512 can be opened. The passage area of the first branch 510 can be adjusted by adjusting the degree of opening and closing of the first passage 512 by the first blocking member 622, The flow rate of the hot water can be adjusted.

In addition, the second controller 650 controls the flow rate of the second fluid by adjusting the amount of opening and closing of the second branch 520. To this end, the second adjuster 650 may have a second opening and closing part 660, a second driving part 670, and a second connecting part 680.

The second opening and closing part 660 is provided inside the second branching part 520 to open and close the second branching part 520.

In this embodiment, the second opening and closing portion 660 may have a second housing 661, a second blocking member 662, and a second elastic member 663.

The second housing 661 may be provided inside the second branch 520. A third hole 664 may be formed in one end of the second housing 661 and a fourth hole 665 may be formed in the other end of the second housing 661 in the direction of transport of the second fluid.

The second blocking member 662 may be provided on the inner side of the second housing 661 and may be moved in the longitudinal direction of the second housing 661 through the third hole 664. The second step portion 521 may protrude along the circumferential direction on the inner circumferential surface of the second branch portion 520 and the second step portion 521 may have the second through hole 522. [ The second blocking member 662 may be formed in a conical shape to seal the second through-hole 522. That is, when the second blocking sound 662 is moved toward the second step portion 521 and the front end of the second blocking sound 662 is inserted into the second through hole 522, the second through hole 522 can be sealed have.

The second elastic member 663 may be provided inside the second housing 661 and may provide an elastic force so that the second blocking member 662 is moved in a direction away from the second step portion 521 .

The second opening and closing part 660 may have the same configuration as the first opening and closing part 620.

The second driving unit 670 may be provided outside the second flow path unit 400. The second driving unit 670 may be arranged close to the place where the first driving unit 630 is provided, in consideration of various conditions such as ease of wiring and accuracy of the installation space.

The second connection portion 680 may be provided to extend along the second flow path portion 400 from the inside of the second flow path portion 400. One end of the second connection portion 680 may extend to the inside of the second branch portion 520 and may be connected to the second opening and closing portion 660. Specifically, one end of the second flow path unit 400 may be connected to the fourth hole 665 of the second housing 661.

The second connection portion 680 may be extended to the outside of the second flow path portion 400 through the second hole 401 formed through the second flow path portion 400. The other end of the second connection portion 680 extending to the outside of the second flow path portion 400 may be connected to the second drive portion 670.

The second connection portion 680 may transmit the operating pressure of the second driving portion 670 to the second opening and closing portion. Here, the operating pressure provided by the second driving unit 670 may be an air pressure. The second connection part 680 and the second driving part 670 may have the same configuration as the first connection part 640 and the first driving part 630, respectively.

The second blocking member 662 is fixed by the second elastic member 663 to the second step portion 662 by the air pressure supplied through the second connecting portion 680 in a state where the second blocking member 662 is fixed by the second elastic member 663 521, and the second through hole 522 can be closed. The flow rate of the low temperature water supplied through the second branching part 520 can be adjusted by controlling the degree of the second blocking sound 662 opening and closing the second through hole 522. [ Accordingly, the temperature of the working fluid generated in the mixing passage portion 530 can be controlled and the flow rate of the working fluid transported to the temperature control object 10 can be adjusted.

The temperature controller 690 controls the operation of the first controller 610 and the second controller 650 so that the temperature and flow rate of the working fluid flowing into the expandable and contractible part 12 can be controlled have.

4, the first accommodation portion 100 and the second accommodation portion 200 are provided in the installation space 22 of the body 21 of the robot 20, and the robot 20 Even if a plurality of artificial muscle modules 10a and 10b are provided at different distances from the body 21 in the arm 23 of the artificial muscle module 10a and the body 21, It is possible to control such that the times at which the actuating members respectively flow into the artificial muscle module 10b provided at a relatively long distance from the body 21 are equalized. That is, the first branch portions 300a and 300b and the second flow portions 400a and 400b are closed by the first branch portion and the second branch portion, which are coupled to the respective artificial muscle modules 10a and 10b, So that the first fluid and the second fluid are filled. At the time when each of the artificial muscle modules 10a and 10b is to be controlled, the first opening / closing part and the second opening / closing part of the artificial muscle module to be operated are opened to adjust the flow rate of the hot water and the low temperature water, Can be generated. Then, the generated working fluid is directly transferred to the artificial muscle module, so that the artificial muscle module can be operated quickly. Therefore, according to the present embodiment, even if the artificial muscle module is provided at a position distant from the first accommodation portion 100 and the second accommodation portion 200, the delay of the control time can be effectively prevented, It is possible to prevent the occurrence of the control time delay phenomenon depending on the installation position of the artificial muscle module.

The third flow path portion 710 may be connected to the stopper portion 13 of the temperature control object 10 and the third flow path portion 710 may guide the discharge fluid discharged from the temperature control object 10 to be transported have.

The third channel portion 710 may be connected to the distribution portion 700 and the distribution portion 700 may be formed so that the discharge fluid transported through the third flow path portion 710 flows into the first and second accommodation portions 100, (200). ≪ / RTI >

7 to 9 are views showing the first opening / closing part of the temperature control device according to the second embodiment of the present invention. In this embodiment, the configurations of the first opening and closing part and the second opening and closing part may be different from those of the first embodiment described above, and the other configurations are the same as those of the first embodiment described above, so that the description is omitted. Also, in this embodiment, the first opening and closing part and the second opening and closing part can be realized with the same configuration, and the first opening and closing part will be described for the convenience of explanation.

As shown in FIGS. 7 to 9, the first opening / closing part may have a first expansion / contraction portion 1625. The first expansion / contraction portion 1625 may be provided inside the first branch portion 1510 and may be formed to expand and contract. The first expansion / contraction portion 1625 may be expanded when the operating pressure is supplied from the first driving portion (not shown) through the first connection portion 1640 to seal the first branch portion 1510. The first expansion / contraction portion 1625 may be contracted to open the first branch portion 1510 when the operating pressure is recovered from the first driving portion through the first connection portion 1640. Here, the working pressure may be an air pressure.

On the other hand, the inner circumferential surface of the first branch 1510 may be additionally limited in shape or may be additionally provided for improving airtightness with the expanded first expansion / contraction portion 1625.

A first groove 1511 is formed in the inner circumferential surface of the first branch 1510 along the circumferential direction and a first seal 1511 is formed in the first groove 1511 so as to be in close contact with the expanded first expanded / contracted portion 1625, Member 1512 may be provided (see Fig. 7).

In another example, the first step portion 1515 may be further formed on the inner circumferential surface of the first branch portion 1510 along the circumferential direction so as to be in close contact with the expanded first inflated / deflated portion 1625 (see FIG. 8).

In another example, a first irregular portion 1517 may be formed along the circumferential direction so as to be in close contact with the expanded first expanded / contracted portion 1625 on the inner circumferential surface of the first branched portion 1510 (see FIG. 9) .

10 is an exemplary view showing a first opening and closing part of the temperature control device according to the third embodiment of the present invention. In the present embodiment, the configurations of the first opening and closing part and the second opening and closing part may be different from those of the above-described embodiment, and the other configurations are the same as those of the above-described embodiment, and thus description thereof is omitted. Also, in this embodiment, the first opening and closing part and the second opening and closing part can be realized with the same configuration, and the first opening and closing part will be described for the convenience of explanation.

As shown in FIG. 10, the first opening and closing part may have a first blocking member 2622 and a first elastic member 2623.

The first blocking member 2622 may be provided on the inner side of the first branching portion 2510 and may be moved in the longitudinal direction of the first branching portion 2510. The first blocking member 2622 may be formed in a conical shape to seal the first through-hole 2512 of the first step 2511 protruding from the inner circumferential surface of the first branching portion 2510 along the circumferential direction.

The first elastic member 2623 may be connected to the first step jaw 2511 and the first stop member 2622 so that the first stop member 2622 seals the first through hole 2512, 2622 in the direction of the first step jaw portion 2511. In this case,

In the initial state, the first blocking member 2622 may be in a state of sealing the first through-hole 2512 by the elastic force of the first elastic member 2623 (see Fig. 10A). The first driving unit (not shown) may provide pulling force to pull the first connection unit 2640. When the first connection portion 2640 is pulled, the first blocking member 2622 can be moved away from the first step portion 2511 by the force to open the first through hole 2512 (see FIG. 10 b)). The first connection portion 2640 may be a wire and the first driving portion may be configured to pull or release the first connection portion 2640 by providing a pulling force or providing no pulling force so that the first connection portion 2640 is not limited to a specific configuration, . The first connection portion 2640 may extend inward and outward of the first flow path portion 2300 through a first hole 2301 formed in the first flow path portion 2300.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

10, 10a, 10b: Temperature control object 11:
12: stretching part 20: robot
100: first receiving portion 200: second receiving portion
300, 300a, 300b: first flow portion 400, 400a, 400b:
500: mixing section 510: first branching section
520: second branch base part 530: mixing flow part
540: sealing part 610: first adjusting part
620: first opening and closing part 621: first housing
622: first blocking member 623: first elastic member
630: first driving part 640: first connection part
650: second adjuster 690: temperature controller
700: distribution part 1512: first sealing member
1517: first uneven portion 1625: first inflated / deflated portion

Claims (13)

A first accommodating portion for accommodating a first fluid having a predetermined high temperature;
A second accommodating portion for accommodating a second fluid at a predetermined low temperature lower than the temperature of the first fluid;
A first flow path connected to the first accommodating portion and guiding the first fluid discharged from the first accommodating portion to be transported;
A second flow path connected to the second accommodating portion and guiding the second fluid discharged from the second accommodating portion to be transported;
A first branch portion connected to the first flow path portion, a second branch portion connected to the second flow path portion, and a second branch portion directly connected to the temperature control object and being transported through the first flow path portion, A mixing portion having a mixing flow path portion in which the second fluid transported through the two flow paths are mixed with each other; And
The volume of the first fluid may be varied according to a pressure condition provided from the outside in the state of being provided inside the first branch and the flow rate of the first fluid may be controlled by opening and closing the first branch by moving along the longitudinal direction of the first branch And a first regulator having a first opening and closing part. The method according to claim 1,
And a second opening and closing part for adjusting a flow rate of the second fluid while being movable in a longitudinal direction of the second branch part according to a pressure condition externally provided in the second branch part, And a temperature controller for controlling the operation of the first controller and the second controller to adjust the temperature of the mixed fluid flowing into the temperature control object. The method according to claim 1,
The first adjuster
A first driving unit provided outside the first flow path unit for supplying and recovering operating pressure,
And the other end of the first passage portion is connected to the first opening and closing portion and extends along the first passage portion, and the other end portion of the first passage portion, which is provided outside the first passage portion, And a first connection part connected to transmit the operating pressure to the first opening and closing part,
Wherein the first opening and closing part decreases the passage area of the first branch part when the operating pressure is supplied and increases the passage area of the first branch part when the operating pressure is recovered. The method of claim 3,
The first opening /
A first housing provided inside the first branch portion and having a first hole formed at one end thereof in a direction of transporting the first fluid and a second hole connected to one end of the first connection portion,
And a conical portion which is provided on the inner side of the first housing and moves in the longitudinal direction of the first housing through the first hole and which protrudes along the circumferential direction on the inner peripheral surface of the first branched portion, A first blocking member formed into a shape,
And a first elastic member provided inside the first housing and providing an elastic force to move the first blocking sound in a direction away from the first step,
Wherein the first blocking member is moved so as to seal the first through hole when an operating pressure is supplied from the first driving unit through the first connecting unit. The method of claim 3,
The first opening /
And a second connecting portion that is formed on the inner side of the first branch portion and is expanded and contracted to expand and contract when the operating pressure is supplied from the first driving portion through the first connecting portion to seal the first branched portion, And a first expansion / contraction portion that contracts when the operating pressure is recovered through the connection portion to open the first branch portion. 6. The method of claim 5,
Wherein the first step portion is formed along the circumferential direction so as to be in close contact with the expanded first inflated / deflated portion on the inner circumferential surface of the first branched portion. 6. The method of claim 5,
Wherein a first concavo-convex portion is formed along the circumferential direction so as to be in close contact with the expanded first inflated / deflated portion on the inner circumferential surface of the first branched portion. 6. The method of claim 5,
Wherein a first groove is formed in an inner circumferential surface of the first branched portion along a circumferential direction and a first sealing member is provided in the first groove so as to be in close contact with the expanded expanded and contracted portion. The method according to claim 1,
The first adjuster
A first driving unit provided on the outer side of the first flow path unit and providing a traction force,
And the other end of the first passage portion is connected to the first opening and closing portion and extends along the first passage portion, and the other end portion of the first passage portion, which is provided outside the first passage portion, And a first connection part connected to the first opening and closing part to transmit the pulling force to the first opening and closing part,
Wherein the first opening and closing part increases the passage area of the first branch part when the traction force is provided and reduces the passage area of the first branch part when the traction force is removed. 10. The method of claim 9,
The first opening /
A first branch portion provided inside the first branch portion and moved in a longitudinal direction of the first branch portion and protruding along the circumferential direction on the inner circumferential surface of the first branch portion, However,
A first elastic member connected to the first end stop and the first end stop to provide an elastic force for moving the first end stop in the direction of the first end stop so that the first end stop seals the first opening, Lt; / RTI &
Wherein the first blocking member is moved away from the first step portion by the pulling force transmitted to the first connecting portion by the first driving portion so that the first through hole is opened. 1. An apparatus for driving an artificial muscle module, comprising: a heat reaction driving unit for deforming a shape while being reacted by heat; a fluid for supplying heat to the heat reaction driving unit; and a stretchable and contractible part accommodating the heat reaction driving unit and being deformed together with the heat reaction driving unit,
11. A temperature control device comprising: a temperature control device according to any one of claims 1 to 10,
Wherein the mixing part further comprises a sealing part coupled to one end of the stretchable and contractible part to seal one end of the stretchable and contractible part. 12. The method of claim 11,
Wherein the sealing part has a first through hole formed to pass through the thermal reaction driving part so as to correspond to the position of the thermal reaction driving part and a first fixing part to which one end of the thermal reaction driving part is fixed is coupled to the first through hole. . An artificial muscle module having a thermal reaction driving part in which a shape is deformed while being reacted by heat, a fluid for supplying heat to the thermal reaction driving part, and an elastic part for receiving the thermal reaction driving part and being deformed together with the thermal reaction driving part; And
11. A temperature control device comprising: a temperature control device according to any one of claims 1 to 10,
Wherein the temperature controller adjusts the temperature of the working fluid supplied to the artificial muscle module to drive the artificial muscle module.

Images