公开(公告)号：EP3066716A1

公开(公告)日：2016-09-14

申请号：EP14792874.1

申请日：2014-09-17

申请人： Centrum Badan Kosmicznych Polskiej Akademii Nauk

发明人： KUCINSKI, Tomasz ,  GRYGORCZUK, Jerzy ,  SEWERYN, Karol ,  GRASSMANN, Kamil

IPC分类号： H01Q1/08 ,  B21C37/08 ,  E04C3/00

CPC分类号： E04H12/34 ,  B21C1/30 ,  B21C37/0818 ,  E04C3/005 ,  E04H12/18 ,  H01Q1/087 ,  H01Q1/1235

摘要： 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.

摘要翻译： 公开了一种夹紧机构，夹紧在由弹性材料制成的管上，该管设置有夹在管上的带。 在管内，在带夹紧的位置处，刚性元件的直径基本上对应于管的内径。 该带围绕至少其圆周的一半的长度包围管，并连接到张紧和释放装置。 还提供了一种用于操纵器的锁定系统，其包括彼此基本平行的管。 每个管由缠绕在刚性地连接到结构的滚筒上的卷曲条形成。 操纵器具有至少一个可重构参数。 该系统包括安装在每个管上的机构。 此外，公开了一种操作可重构机械手的方法，其包括卷曲的带状管，其中所述操纵器设置有锁定系统，所述锁定系统被释放以重新配置所述操纵器并被夹紧以用于正常操作。

公开(公告)号：EP3066716B1

公开(公告)日：2017-10-18

申请号：EP14792874.1

申请日：2014-09-17

申请人： Centrum Badan Kosmicznych Polskiej Akademii Nauk

发明人： KUCINSKI, Tomasz ,  GRYGORCZUK, Jerzy ,  SEWERYN, Karol ,  GRASSMANN, Kamil

IPC分类号： H01Q1/08 ,  B21C37/08 ,  E04C3/00 ,  B21C1/30 ,  E04H12/18 ,  E04H12/34 ,  H01Q1/12

CPC分类号： E04H12/34 ,  B21C1/30 ,  B21C37/0818 ,  E04C3/005 ,  E04H12/18 ,  H01Q1/087 ,  H01Q1/1235

公开(公告)号：EP3087244A2

公开(公告)日：2016-11-02

申请号：EP14809110.1

申请日：2014-10-22

申请人： Centrum Badan Kosmicznych Polskiej Akademii Nauk ,  Akademia Gorniczo-Hutnicza im. Stanislawa Staszica w Krakowie

发明人： SEWERYN, Karol ,  GRASSMANN, Kamil ,  KUCINSKI, Tomasz ,  BURATOWSKI, Tomasz ,  UHL, Tadeusz ,  ZWIERZYNSKI, Adam Jan ,  TEPER, Wojciech ,  BEDNARZ, Stanislaw ,  GONET, Andrzej ,  RZYCZNIAK, Miroslaw ,  ZLOTKOWSKI, Albert

IPC分类号： E21B7/20

CPC分类号： E21B19/22 ,  E21B7/20 ,  E21B17/20 ,  E21B25/00

摘要： The object of the invention is a spragging mechanism for application in a tube. It is provided with a band and clamping means. The clamping means are arranged within the tube, outside of which the band is provided. The object of the invention is also a system for guiding bore head, provided with an spragging mechanism, head, means transferring the pressing force to the bore head, and also a curled tube fed from the drum into the wellbore. The curled tube (1) constitutes means transferring the pressing force, exerted by the pressing mechanism (2) via a mechanism releasably connected to the curled tube (1). The object of the invention is also a method of drilling a wellbore, wherein a bore head with an drill bit is lowered down the wellbore and pressed against its bottom, simultaneously inserting a tube into to wellbore. For pressing the head (9) with the drill bit (8) a tube (1) curled of strip (T1) drawn from a drum is used, wherein the pressing force is applied to the tube via a mechanism (11, 13, 2) releasably connected thereto.