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    • 1. 发明申请
    • CLAMPING MECHANISM, LOCKING ARRANGEMENT AND METHOD OF OPERATING A RECONFIGURABLE MANIPULATOR
    • 夹紧机构,锁定装置和操作可重构操纵器的方法
    • WO2015068062A1
    • 2015-05-14
    • PCT/IB2014/064589
    • 2014-09-17
    • CENTRUM BADAN KOSMICZNYCH POLSKIEJ AKADEMII NAUK
    • KUCINSKI, TomaszGRYGORCZUK, JerzySEWERYN, KarolGRASSMANN, Kamil
    • H01Q1/08B21C37/08E04C3/00
    • E04H12/34B21C1/30B21C37/0818E04C3/005E04H12/18H01Q1/087H01Q1/1235
    • The object of the invention is a clamp mechanism, clamping on a tube made of elastic material, provided with a band clamped on a tube. Inside the tube (21), in the location where the band (23) clamps there is located a stiff element (22) having a diameter substantially corresponding to the inner diameter of the tube. The band (23) encompasses the tube (21) over the length of at least the half of its circumference and is connected to tensioning and releasing means (25, 27, 29). The object of the invention is also a system locking a multitubular manipulator, wherein a locking mechanism according to the invention is mounted on each of the tubes (41a, 41b, 41c). Further, the object of the invention is a method of operating a reconfigurable manipulator comprising curled strip tubes, characterised in that the manipulator is provided with a locking system according to the invention, which is released for reconfiguration of the manipulator and clamped for normal operation.
    • 本发明的目的是夹紧机构,夹紧在由弹性材料制成的管上,该管被夹在管上。 在管(21)内部,在带(23)夹紧的位置处具有直径基本上对应于管的内径的刚性元件(22)。 带(23)在至少其圆周的一半长度上包围管(21),并连接到张紧和释放装置(25,27,29)。 本发明的目的还是一种锁定多管式操纵器的系统,其中根据本发明的锁定机构安装在每个管(41a,41b,41c)上。 此外,本发明的目的是一种操作包括卷曲带状管的可重构机械手的方法,其特征在于,所述操纵器设置有根据本发明的锁定系统,所述锁定系统被释放以重新配置所述操纵器并被夹紧以进行正常操作。