Chain with selectively engaged links

Abstract

A chain is provided in which adjacent links are attached to one another by a coupling pin that permits the links to rotate relative to one another on a connecting axis defined by a coupling pin. The links have movable link plates and can be fixed against relative rotation or released, at least on one side of the chain, by selectively engaging or disengaging the link plates. In one embodiment a restoring force urges movable link plates outwardly on both sides of the chain, toward locking engagement with the plates of the next adjacent links. The movable link plates are depressible against the restoring force, sufficiently to permit the adjacent link plates to overlap and pivot freely. The couplings between links can be switched between fixed and free rotational states by passing them through a path with converging walls that depress the movable link plates. The chain is particularly useful as a device for positioning a tool or manipulator, and in an embodiment with movable link plates on both sides is not only switchable between rigid and flexible but each pair of links is inherently compliant in the plane of its pivot pins.

I claim:  
     
         1 . An elongated chain structure, comprising: 
 a plurality of links of a first type and a second type, alternating with one another along a longitudinal length of the chain, each adjacent pair of the links of said first and second types being movably attached to one another for relative rotation of the pair of links on a pivot axis;    wherein the links of the first and second type have longitudinally abutting surfaces that differ from a circular surface around the respective pivot axis, wherein the links of the first and second type are prevented from rotating by the longitudinally abutting surface;    and wherein at least one of the links of the first and second types is displaceable sufficiently to disengage the longitudinally abutting surfaces of adjacent links for relative rotation and to re-engage for rendering the chain rigid.    
     
     
         2 . The chain structure of  claim 1 , wherein the links of the first and second type comprise a chassis link having laterally spaced link plates attached to longitudinally spaced transverse pivot pins, and a movable link comprising at least one movable link plate that is movable laterally inwardly from a position abutting one of the link plates of the chassis link to a position clear of said at least one movable link plate, the chassis link and the movable link plate being relatively rotatable in one of said positions of the movable link plate and fixed against relative rotation in another of said positions.  
     
     
         3 . The chain structure of  claim 2 , wherein the chassis link plate and the movable link plate have longitudinally facing complementary surfaces.  
     
     
         4 . The chain structure of  claim 1 , wherein the links that are displaceable sufficiently to disengage comprise movable link plates on opposite lateral sides.  
     
     
         5 . The chain structure of  claim 1 , wherein the links that are displaceable sufficiently to disengage comprise movable link plates on one of two opposite lateral sides and on the other of said two opposite lateral sides comprise a nondisplaceable link plate that is pivotally attached to at least one adjacent link.  
     
     
         6 . The chain structure of  claim 1 , wherein links abut along complementary surfaces that are inclined relative to a lateral plane, in a direction causing the complementary surfaces to form a wedge engagement tending to longitudinally stretch the chain in a movement direction tending to lock the movable link plate against the chassis link plate.  
     
     
         7 . The chain structure of  claim 2 , wherein the movable link plate comprises at least one contact cam-protruding laterally from the movable link plate, whereby the movable link plate can be displaced inwardly by causing the contact cam to follow a surface having a decreasing lateral width.  
     
     
         8 . The chain structure of  claim 7 , wherein the movable link plate comprises a side cam wall having a supporting surface and said protruding contact cam, wherein the supporting surface defines a substantially flat support for positioning the movable link plate laterally inward of the chassis link plate when the chassis link plate and the movable link plate are relatively rotated.  
     
     
         9 . The chain structure of  claim 8 , wherein the longitudinally facing complementary surfaces of the chassis link plate and the movable link plate each defines a wedging angle of less then 45 degrees relative to an axis of an associated one of the pivot pins.  
     
     
         10 . The chain structure of  claim 1 , wherein the chain is rendered rigid with the successive links in a substantially straight line configuration.  
     
     
         11 . The chain structure of  claim 1 , wherein the chain is rendered rigid with the successive links in a curve having at least one radius of curvature define by a relative angle between at least two adjacent links.  
     
     
         12 . The chain structure of  claim 11 , wherein the links are engageable with one another at least at two selectable angles.  
     
     
         13 . A chain comprising: 
 a plurality of serially coupled links forming a longitudinal length of a chain, wherein at least some adjacent links are joined at couplings having a tolerance along the longitudinal length, the links being coupled by a movable structure having one state permitting relative rotation between the adjacent links, and another state wherein the adjacent links are fixed against relative rotation, thereby rendering the chain rigid, wherein the adjacent links are fixed by wedge surfaces when in said state where the adjacent links are fixed against said relative rotation, wherein said wedge surfaces operate to elongate the chain along the longitudinal length in said state where the adjacent links are fixed.    
     
     
         14 . The chain of  claim 13 , comprising a plurality of links of a first type and a second type, alternating with one another along a longitudinal length of the chain, each adjacent pair of the links of said first and second types being movably attached to one another for relative rotation of the pair of links on a pivot axis, wherein the links of the first and second type have longitudinally abutting surfaces that differ from a circular surface around the respective pivot axis, wherein the links of the first and second type are prevented from rotating by the longitudinally abutting surface.  
     
     
         15 . The chain of  claim 14 , wherein at least one of the links of the first and second types has a movable link plate on at least one of two lateral sides, that is displaceable laterally inwardly displaceable sufficiently to disengage the longitudinally abutting surfaces of adjacent links for relative rotation and to re-engage for rendering the chain rigid.  
     
     
         16 . The chain of  claim 15 , further comprising restoring force structure associated with at least one of the type of links, operating to urge the movable link plate in one direction laterally inwardly or outwardly, for one of locking and unlocking the chain, the movable link plate operating in an opposite sense for one of unlocking and locking the chain, when moved opposite said one direction.  
     
     
         17 . The chain of  claim 16 , wherein the longitudinally abutting surface of the adjacent links are complementary surfaces inclined relative to a radial plane intersecting the pivot axis, in a direction causing the complementary surfaces to form a wedge engagement tending to longitudinally stretch the chain in a movement direction tending to lock the movable link plate against the chassis link plate.  
     
     
         18 . In combination, a chain and a guide for the chain, comprising: 
 a plurality of serially coupled links forming a longitudinal length of the chain, the links-being coupled by a movable structure having one state permitting relative rotation between the adjacent links, and another state wherein the adjacent links are fixed against relative rotation, thereby rendering the chain rigid, wherein the adjacent links are fixed by wedge surfaces when in said state where the adjacent links are fixed against said relative rotation, wherein said wedge surfaces operate to elongate the chain along the longitudinal length in said state where the adjacent links are fixed; and,    the guide comprising a surface that contacts at least certain of the links at least at one point along an extension of the chain, the guide moving said certain of the links between said states.    
     
     
         19 . The combination of  claim 18 , wherein the links comprise a chassis link plate and a movable link plate attached by a pivotal coupling, the chassis link plate and the movable link plate having longitudinally facing surfaces on at least one lateral side of the chain, defining the wedge surfaces and wherein the guide is operable to displace the movable link plate laterally inwardly to disengage the longitudinally facing surfaces, thereby permitting the chassis link plate and the movable link plate to overlap and to rotate relative to the pivotal coupling.