초록 ▼

A fluid dynamic muscle contracts when air or hydraulic pressure is applied to it. The muscle has a long elastomeric bladder covered by a long tubular braid of flexible but inextensible fibers or filaments. When the bladder is inflated the braid is forced to expand laterally, which shortens it axiall

A fluid dynamic muscle contracts when air or hydraulic pressure is applied to it. The muscle has a long elastomeric bladder covered by a long tubular braid of flexible but inextensible fibers or filaments. When the bladder is inflated the braid is forced to expand laterally, which shortens it axially when the pressure is relieved, the muscle will relax allowing a pulling force on a tendon connected to a termination on its distal end to stretch it back to its original length. These fluid dynamic muscles can be used for bending the articulation section of a borescope or endoscope.

대표청구항 ▼

A borescope or endoscope that comprises a flexible elongated insertion tube, an articulation section at a distal end of said insertion tube and having at least a first pair of steering cables for bending the articulation section in one place; at least one pair of fluid dynamic muscles each associate

A borescope or endoscope that comprises a flexible elongated insertion tube, an articulation section at a distal end of said insertion tube and having at least a first pair of steering cables for bending the articulation section in one place; at least one pair of fluid dynamic muscles each associated with a respective one of said steering cables; each said muscle including an elongated elastomeric bladder, a fluid conduit extending from the proximal end of the associated bladder to the proximal end of the insertion tube for supplying a fluid pressure to the bladder, a tubular braid with proximal and distal ends, disposed over said bladder and formed of a plurality of flexible inextensible filaments, the tubular braid permitting said bladder therewithin to expand laterally when said fluid pressure is applied to it but restraining the bladder such that as said tubular braid increases in diameter it contracts axially, anchor means for anchoring the proximal end of each said braid to a ground within said insertion tube; a termination closing the distal end of the associated braid and connecting it to an associated one of the steering cables for applying a tensive force thereto for bending said articulation section when said fluid pressure causes said bladder and braid to expand laterally, a source of fluid pressure; and a controller for selectively applying said fluid pressure from said source to one or the other of the fluid conduits of the muscles associated with each pair of steering cables, for actuating the associated fluid dynamic muscles in such fashion as to bend said articulation section a desired degree; wherein said fluid dynamic muscles are situated within the insertion tube near the distal end thereof to minimize play in the associated steering cables.