Hydraulic muscle pump

• US 5,014,515 A
• Filed: 06/01/1990
• Issued: 05/14/1991
• Est. Priority Date: 05/30/1989
• Status: Expired due to Fees

• Current Assignee: Everest Visual Inspection Technologies, Inc. (GE Aerospace)
• Original Assignee: Welch Allyn Incorporated
• Inventors: Krauter, Allan I.
• Primary Examiner(s): Kwon, John T.
• Assistant Examiner(s): DENION, THOMAS E
• Application Number:
  US07/531,529
• Time in Patent Office: 347 Days
• Field of Search: 60/562, 60/571, 60/581, 60/594, 60/533, 92/89, 92/90, 92/91, 92/92, 128/4
• US Class Current: 60/581
• CPC Class Codes: A61B 1/0053 using distributed actuators, e.g. artificial muscles
• CPC Class Codes: A61M 25/0155 with hydraulic or pneumatic means, e.g. balloons or inflatable compartments
• CPC Class Codes: B25J 9/142 comprising inflatable bodies
• CPC Class Codes: F15B 1/16 in the form of a tube
• CPC Class Codes: F15B 2201/20 Accumulator cushioning means
• CPC Class Codes: F15B 2201/3152 the flexible separating means being bladders
• CPC Class Codes: F15B 2201/41 Liquid ports
• CPC Class Codes: F15B 7/00 Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors

Abstract

This invention comprises four hydraulic muscle pumps connected to four hydraulic dynamic muscles in hermetically sealed pairs to transfer tensive forces from a local to a remote location for use in actuating the articulation section of a borescope or endoscope.

Claims

1. A hermetically sealed liquid actuation system for transferring tensive linear motion from a local to a remote device comprising a first liquid dynamic muscle disposed at the distal end of said actuation system, a second liquid dynamic muscle disposed at the proximal end of said liquid actuation system, and a tubular conduit connecting said first and second muscles for transferring liquid from one liquid dynamic muscle to the other each liquid dynamic muscle comprising:

a semi-rigid tubular sheath;

an elongated elastomeric bladder positioned within said tubular sheath,

a tubular braid member with proximal and distal ends disposed over said bladder within the said tubular sheath,

said braid formed of a plurality of flexible yet substantially inextensible filaments permitting said bladder therewithin to expand laterally when filled with liquid but restraining the bladder such that as said tubular braid increases in diameter, the braid contracts axially,

a liquid conduit hermetically sealed at one to said bladder in said distal liquid dynamic muscle and at the other end to said bladder in said proximal liquid dynamic muscle;

anchor means for anchoring one end of said tubular braid to one end of said tubular sheath of the distal liquid dynamic muscle;

anchor means for anchoring one end of the sheath to one end of said braid at the proximal liquid dynamic muscle;

a termination enclosing the other end of said tubular braid at each of said proximal and distal liquid dynamic muscles;

tendon means connected to said termination for carrying tensive force from said braid when said bladder and braid expand; and

a flexible sheath member disposed about said tendon means for providing compressive reaction forces to said tensive force connected to the other one end of said tubular sheath so that when a tensive force is applied to tendon means at the proximal fluid dynamic muscle, a proximal bladder and tubular braid is pulled to an elongated condition forcing liquid to the distal end of said liquid actuating system to cause the bladder and tubular braid member therein to expand in diameter and contract axially to apply a tensive force in an amount related to the distance the proximal tendon member was pulled to thereby transfer the proximal tensive linear motion to the distal end of the hydraulic actuation system so as to provide an elongated flexible actuation system for transferring linear tensive motion from an input actuator to a remote device.

2. The method of transferring tensive linear motion from a local location to a remote location which comprises:

connecting a first elongated elastomeric bladder member to one end of a hydraulic fluid conducting tube;

connecting a second elongated elastomeric bladder member to the other end of said hydraulic fluid conducting tube;

positioning a tubular braided enclosure member adapted to contract in axial length when expanded in diameter and vice-versa about said first and second elastomeric bladder members,

filling said hydraulic fluid conducting tube and elastomeric bladder members with hydraulic fluid, with one bladder in an expanded diameter condition and one bladder in an elongated condition;

hermetically sealing said bladders and tube into a closed system; and

selectively applying a tensive force to one of said braid enclosed elastomeric bladders causing it to be longitudinally extended to transfer hydraulic fluid and pressure to the other bladder causing the other to expand in diameter radially and contract axially a corresponding amount to apply a tensive force at the remote location.

3. The method of claim 2 further defined by operatively connecting control means to said first bladder member and articulation means to said second bladder member.