JOINT MECHANISM FOR COMPLIANCE SUBSTANTIALLY WITH THE CONFIGURATION OF AT LEAST ADJACTIVE SURFACE AND CONTACTING THEM, AND TRACTOR MECHANISM TO CONTACT WITH A TRADITIONAL SURFACE

摘要

A six-bar linkage mechanism for conforming to the configuration of a tractored surface has a central link defined by a tool body and a saddle link (12) spaced from the central link (10) and movable for conforming with the tractored surface. A pair of front links (2,8) each having pivotal connection (16,18) with respective ends of the saddle link (12) and having linearly movable pivotal connection (26,20) with the central link (10) to permit angular and spacing changes of the saddle link relative to the central link. A pair of centralizer links (4,6) are located between the front links and have pivotal connections (9,28) with the saddle link and pivotal connections with the central link (22,24). One of the pivotal connections (24) is linearly movable on the central link. For tractor tools, when the tractored surface is a wellbore or well pipe, a plurality of six-bar linkages radiate from a tool body for surface conforming traction with the tractored surface. IMAGE