Rotational hydraulic joints
First Claim
1. A rotational hydraulic joint comprising:
- an extension chamber; and
a retraction chamber, each of the extension chamber and the reaction chamber comprising;
an end cap;
a piston configured to move relative to the end cap;
one or more ports to add and remove fluid from the chamber; and
a torus-shaped cavity;
wherein the rotational hydraulic joint is configured to rotate in a cyclical direction when fluid is added to the extension chamber and rotate in a countercyclical direction when fluid is added to the retraction chamber.
1 Assignment
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Accused Products
Abstract
A rotational hydraulic joint may include an extension chamber and a retraction chamber. Each chamber may include an end cap and a piston that moves relative to the end cap. One or more ports may add and remove fluid from the chamber. The rotational hydraulic joint may rotate in a cyclical direction when fluid is added to the extension chamber and in a countercyclical direction when fluid is added to the retraction chamber. The chambers may each include a torus-shaped cavity. Bladders may prevent fluid from leaking out of the rotational hydraulic joint. Stationary and movable electrodes may be coupled to the end cap and piston respectively. A plurality of rotational hydraulic joints may be combined to create a compound joint.
114 Citations
20 Claims
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1. A rotational hydraulic joint comprising:
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an extension chamber; and a retraction chamber, each of the extension chamber and the reaction chamber comprising; an end cap; a piston configured to move relative to the end cap; one or more ports to add and remove fluid from the chamber; and a torus-shaped cavity; wherein the rotational hydraulic joint is configured to rotate in a cyclical direction when fluid is added to the extension chamber and rotate in a countercyclical direction when fluid is added to the retraction chamber. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A compound ball joint configured to rotate an object coupled thereto, the compound ball joint comprising:
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a plurality of constituent joints, each constituent joint comprising; an extension chamber; and a retraction chamber, each of the extension chamber and the retraction chamber comprising; an end cap, a piston configured to move relative to the end cap, and one or more ports to add and remove fluid from the chamber, wherein each constituent joint is configured to rotate in a cyclical direction when fluid is added to the extension chamber and rotate in a countercyclical direction when fluid is added to the retraction chamber, and wherein a first of the plurality of constituent joints is configured to rotate a second of the plurality of constituent joints, and wherein the compound ball joint further comprises a plurality of fluid control valves configured to control filling and draining of fluid from the plurality of constituent joints. - View Dependent Claims (12, 13, 14, 15)
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16. A hydraulic chamber comprising:
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an end cap; a piston configured to move relative to the end cap; chamber walls defining a chamber and enclosing the piston and end cap; one or more ports to add and remove fluid from the chamber; and a deformable bladder coupled to the end cap and coupled to the piston, wherein the bladder is configured to prevent leaking out of the non-leaking hydraulic chamber, and wherein the bladder is configured to fold around itself and the piston when the fluid is removed. - View Dependent Claims (17, 18, 19, 20)
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Specification