US3712481A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Actuator
Assignee: McDonnell Douglas Corp
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Filing: 1971-12-23
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Granted: 1973-01-23
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Expires: 1991-12-23
Abstract
Abstract A remotely controllable actuator system comprised of one or more modules having a first plurality of wedge links connected together by torque transmission means, a second plurality of wedge links which are connected together by torque transmission means positioned between the links of the first plurality of wedge links and in sliding contact therewith and third torque transmitting means extending from one end of the module to the other. The module also may include controllable drive means for rotating the first plurality of wedge links with respect to the second plurality of wedge links to cause bending of the module in a predetermined plane and second drive means for driving said first and second pluralities of wedge links with respect to the third torque transmitting means to change the predetermined plane of curvature in which the module can bend.
Inventors
- 👤 O Harwood
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 19:03
CPC Classifications
B; B25; B25J; B25J19/00; B25J19/0025; B25J19/0029; B25J15/00; B25J15/0009; B25J18/00; B25J18/06; B25J3/00; B25J3/04; B25J9/00; B25J9/06; B25J9/08; B25J9/10; B25J9/102; B25J9/1025; Y; Y10; Y10T; Y10T74/00; Y10T74/20
Claims Analysis
Total Claims: 14
Claim 1
Independent Claim
139 words
An actuator system including at least one module, said module having: first and second end portions; a first plurality of wedge links; first means capable of transmitting torque connected to said first plurality of wedge links; a second plurality of wedge links, said first and second wedge links being in contact, rotatable with respect to each other and alternately positioned along said module; second means capable of transmitting torque connected to said second plurality of wedge links; third means capable of transmitting torque connected to said first end portion; and drive means connected to rotate said first torque transmitting means and said second torque transmitting means in opposite directions equal amounts with respect to said third torque transmitting means, thereby rotating said first and second pluralities of wedge links to cause bending of said module in a predetermined plane.
Claim 2
Dependent Claim
139 words
An actuator system including at least one module, said module having: first and second end portions; a first plurality of wedge links; first means capable of transmitting torque connected to said first plurality of wedge links; a second plurality of wedge links, said first and second wedge links being in contact, rotatable with respect to each other and alternately positioned along said module; second means capable of transmitting torque connected to said second plurality of wedge links; third means capable of transmitting torque connected to said first end portion; and drive means connected to rotate said first torque transmitting means and said second torque transmitting means in opposite directions equal amounts with respect to said third torque transmitting means, thereby rotating said first and second pluralities of wedge links to cause bending of said module in a predetermined plane.
Claim 3
Dependent Claim
31 words
The actuator system defined in claim 1 wherein said first torque transmitting means are comprised of a plurality of bellows which extend between and connect said first plurality of wedge links.
Claim 4
Dependent Claim
35 words
The actuator system defined in claim 1 wherein said first, second and third torque transmitting means are comprised of bellows which extend from said first end portion to said second end portion of said module.
Claim 5
Dependent Claim
75 words
The actuator system defined in claim 1 including: control means for feeding bend position command signals to said module; means in said module for generating signals responsive to the bend position of said module; and means responsive to difference between said bend position command signals and said bend position signals to produce error signals which are fed to said drive means to cause said drive means to bend said module to the bend position commanded.
Claim 6
Dependent Claim
53 words
The actuator system defined in claim 4 wherein said control means are replica control means, said replica control means including: reduced size replica modules in duplication to the modules of said system; and means in said replica modules for producing control signals for said modules in response to bending of said replica means.
Claim 7
Dependent Claim
81 words
The actuator system defined in claim 1 whereby each module includes: electrical connectors on said first and second ends thereof adapted to mate with said connectors on other modules; and electrical conductors connecting said electrical connectors together so that said electrical conductors appear at different locations at the opposite ends of said module, said different locations being chosen to make predetermined pairs of conductors appear at locations on module ends predetermined by the position of said module end in said system.
Claim 8
Dependent Claim
88 words
The actuator system defined in claim 6 including at least one extender module, said extender module including: first and second end portions adapted to mate with end portions of other modules; a rigid frame extending between said first and second end portions and rigidly connected thereto; electrical connectors on said first and second end portions thereof adapted to mate with connectors on other modules; and conductors extending between said electrical connectors, each of said conductors appearing on both end portions of said extender module with the identical orientation.
Claim 9
Dependent Claim
45 words
The actuator system defined in claim 1 wherein said module includes: second drive means connected to rotate said first and second torque transmitting means equally in the same direction with respect to said third torque transmitting means, thereby rotating said predetermined plane of module bending.
Claim 10
Dependent Claim
95 words
The actuator system defined in claim 8 including: replica control means for feeding bend position command signals and plane rotation command signals to said module, said replica control means having reduced size replica modules in duplication to the modules of said system, said replica modules including means for producing control signals for said modules in response to bending movement in any plane, said drive means and said second drive means being responsive to said control signals to cause said modules to assume a relative spatial relationship like the relative spatial relationship of the replica modules.
Claim 11
Dependent Claim
161 words
The actuator system defined in claim 1 wherein said module includes at least two bendable portions each having: first and second end portions; a first plurality of wedge links; first means capable of transmitting torque connected to said first plurality of wedge links; a second plurality of wedge links, said first and second wedge links being contact, rotatable with respect to each other and alternately positioned along said module; second means capable to transmitting torque connected to said second plurality of wedge links; and third means capable of transmitting torque connected to said first end portion, whereby said drive means are connected to rotate said first and second torque transmitting means of each of said bendable portions in opposite directions equal amounts with respect to said third torque transmitting means thereby causing bending of said bendable portions in unison, said predetermined bending planes of said first and second bendable portions being oriented so said bendable portions bend toward the same space.
Claim 12
Dependent Claim
20 words
The actuator system defined in claim 10 wherein said bendable portions include grasping members on the second end portions thereof.
Claim 13
Dependent Claim
37 words
The actuator system defined in claim 1 wherein said wedge links are hollow wedge links, and wherein said end portions define openings therethrough, said module thereby defining a longitudinal tunnel from end portion to end portion thereof.
Claim 14
Dependent Claim
36 words
The actuator system defined in claim 12 including means to connect and hermetically seal the end portions of modules to each other so that a sealed conduit is defined through the system by said longitudinal tunnels.
References Cited (Backward Citations)
US3284964A
Cited
US3631737A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1976-01-23 | 1976-07-24 | 1977-01-23 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1980-01-23 | 1980-07-24 | 1981-01-23 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1984-01-23 | 1984-07-24 | 1985-01-23 | $7700.00 | Window Closed / Lapsed |