Clamping mechanism, locking arrangement and method of operating reconfigurable manipulator

Abstract

A clamp mechanism is disclosed, clamping on a tube made of elastic material, provided with a band clamped on a tube. Inside the tube, in the location where the band clamps, a stiff element is located having a diameter substantially corresponding to the inner diameter of the tube. The band encompasses the tube over the length of at least the half of its circumference and is connected to a tensioning and releasing apparatus. A locking system for a manipulator is also provided including tubes substantially parallel to each other. Each tube is formed of curling strip wound on a drum rigidly connected to a structure. The manipulator has at least one reconfigurable parameter. The system includes a mechanism that is mounted on each one of tubes. Further, a method of operating a reconfigurable manipulator is disclosed including curled strip tubes, wherein the manipulator is provided with a locking system, which is released for reconfiguration of the manipulator and clamped for normal operation.

1 . A clamp mechanism, clamping on a tube made of elastic material, provided with a band clamping on the tube, characterised in that inside the tube ( 21 ), in location where the band ( 23 ) clamps there is located a moulder ( 22 ) having a diameter substantially corresponding to the inner diameter of the tube ( 21 ), wherein the band ( 23 ) encompasses the tube ( 21 ) over the length of at least half of its circumference and is connected to tensioning and releasing means ( 25 ,  27 ,  29 ). 
     
     
         2 . A mechanism according to  claim 1 , characterised in that the tensioning and releasing means ( 25 ,  27 ,  29 ) are attached to the structure ( 44 ,  54 ). 
     
     
         3 . A mechanism according to  claim 1  or  2 , characterised in that the tube is partially open and the band ( 23 ) has one end ( 231 ) attached to the moulder ( 22 ) and is led out through the opening in the tube ( 21 ), wherein its second end ( 232 ) is connected with the tensioning and releasing means ( 25 ,  27 ,  29 ). 
     
     
         4 . A mechanism according to clam  1  or  2 , or  3 , characterised in that the moulder ( 22 ) is attached to the structure ( 44 ,  54 ), to which the tensioning and releasing means ( 25 ,  27 ,  29 ) are attached too. 
     
     
         5 . A mechanism according to  claim 1  or  2 , or  3 , or  4 , characterised in that the tensioning and releasing means are constituted by an interface ( 26 ) attached to the band ( 23 ), to which there are connected a tensioning spring ( 25 ) and a string ( 27 ) connected with a drive so that the forces exerted upon the interface by the spring ( 25 ) and a string ( 27 ) act oppositely along the same direction, wherein the magnitude of the force exerted upon the interface ( 26 ) by the string ( 27 ) is greater when the mechanism is not clamped, while smaller when it is clamped. 
     
     
         6 . A mechanism according to any of  claims 1  to  5 , characterised in that the number of turns formed by the band ( 23 ) on the tube ( 21 ) is between one and two. 
     
     
         7 . A system locking a multitubular manipulator, characterised in that on each of the tubes ( 51   a,    51   b,    51   c ) there is mounted a mechanism according to any of  claims 1  to  6 . 
     
     
         8 . A locking system according to  claim 7 , characterised in that the tensioning and releasing means of each of the locking mechanism are attached to the structure ( 44 ,  54 ). 
     
     
         9 . A system locking a multitubular manipulator according to  claim 7  or  8 , characterised in that the tensioning and releasing means in the mechanisms locking at least two tubes ( 51   a,    51   b,    51   c ) constitute interfaces having mounted at one end the tensioning springs ( 55   a ,  55   b,    55   c ), and couplers at the other, wherein the couplers are connected to a common drive ( 50 ). 
     
     
         10 . A locking system according to  claim 9 , characterised in that the couplers are constituted by strings ( 57   a,    57   b,    57   c ), while the springs ( 55   a,    55   b,    55   c ) extend radially outside of the system of tubes so that they are arranged along straight lines intersecting substantially at one point inside the system of tubes and at that point there is located an axis ( 58 ) on which there are wound the strings ( 57   a,    57   b,    57   c ) releasing the bands ( 53   a,    53   b,    53   c ) tensioned by the springs ( 55   a,    55   b,    55   c ). 
     
     
         11 . A method of operating a reconfigurable manipulator comprising curled strip tubes, characterised in that the manipulator is provided with a locking system according to  claim 7 , which is released for reconfiguration of the manipulator and clamped for normal operation. 
     
     
         12 . A method according to  claim 11 , characterised in that the parameter of the manipulator subjected to reconfiguration is its length.