EP0946337A1 - System for the remote handling of equipment particularly adapted to elastic rings - Google Patents

System for the remote handling of equipment particularly adapted to elastic rings

Info

Publication number
EP0946337A1
EP0946337A1 EP97952070A EP97952070A EP0946337A1 EP 0946337 A1 EP0946337 A1 EP 0946337A1 EP 97952070 A EP97952070 A EP 97952070A EP 97952070 A EP97952070 A EP 97952070A EP 0946337 A1 EP0946337 A1 EP 0946337A1
Authority
EP
European Patent Office
Prior art keywords
arm
arms
jaw
sleeves
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP97952070A
Other languages
German (de)
French (fr)
Other versions
EP0946337B1 (en
Inventor
Pascal Gillet
Fabrice Petit
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gillet Outillage
Original Assignee
Gillet Outillage
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Application filed by Gillet Outillage filed Critical Gillet Outillage
Publication of EP0946337A1 publication Critical patent/EP0946337A1/en
Application granted granted Critical
Publication of EP0946337B1 publication Critical patent/EP0946337B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B25/00—Implements for fastening, connecting or tensioning of wire or strip
    • B25B25/005—Implements for fastening, connecting or tensioning of wire or strip for applying wire clasps to hose couplings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B7/00—Pliers; Other hand-held gripping tools with jaws on pivoted limbs; Details applicable generally to pivoted-limb hand tools
    • B25B7/12—Pliers; Other hand-held gripping tools with jaws on pivoted limbs; Details applicable generally to pivoted-limb hand tools involving special transmission means between the handles and the jaws, e.g. toggle levers, gears
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53613—Spring applier or remover
    • Y10T29/5363—Circular spring
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53796—Puller or pusher means, contained force multiplying operator
    • Y10T29/53896—Puller or pusher means, contained force multiplying operator having lever operator
    • Y10T29/539—Plier type means

Definitions

  • the present invention relates to a remote handling system for tools such as those, comprising a fixed jaw and a mobile jaw capable of moving linearly relative to the fixed jaw by actuation means located at a distance, particularly useful for mounting and dismounting.
  • elastic band collars widely used in the automotive field for example for fixing hoses to cooling pipes undergoing wide variations in their outside diameter, due to large expansions; we then know that to maintain tight connections between hose and pipe, it is not possible to use, for example, rigid screw collars, hence the interest of elastic clamps called elastic collars hereinafter.
  • a remote handling system for a tool comprising a fixed jaw and a movable jaw capable of moving linearly relative to the fixed jaw by actuation means located at a distance and coupled to said tool via '' a cable connected on one side to the movable jaw and sliding inside an advantageously flexible sheath, one end of which abuts on the fixed jaw to allow the cable to slide
  • actuation means located at a distance and coupled to said tool via '' a cable connected on one side to the movable jaw and sliding inside an advantageously flexible sheath, one end of which abuts on the fixed jaw to allow the cable to slide
  • the means d actuation consist of two arms which are articulated on the same axis so that they deviate angularly by a value such that the distance between their free end is at least equal to the maximum displacement of the movable jaw, when one brings together two handles respectively secured to the two arms, the free end of one of which serves as a stop at the other end of the sheath while leaving the slide
  • FIG. 1 shows in solid lines a remote manipulator according to the invention seen from the front in "close sleeves” position corresponding to a pre-stressed elastic collar in the mounting position and in thin broken lines the same manipulator in the "sleeve apart” position "corresponding in principle to the tightening position of the elastic collars
  • FIG. 2 is a side view of the manipulator of the previous figure in the maximum open position for the movable jaw
  • FIG. 3 shows schematically the three main variants of the form of the manipulator according to the invention.
  • the remote manipulator 1 is connected by an assembly comprising a cable 2 inside a sheath 3, to a tool 4 making it possible to act on the control ears 5 of a collar elastic 6 for assembly or disassembly, for example on a pipe hose.
  • the tool 4 for tightening and loosening the collar 6 is essentially constituted by a yoke 7 advantageously obtained from a flat iron bent in a U, the two wings of which are joined at their ends around d 'A part 8 constituting the fixed jaw.
  • the fixed jaw is provided in its rear part 9 with a bore 10 inside which the flexible sheath 3 abuts.
  • a hole 11 allows the passage of the cable 2 which can extend to the movable jaw 12 disposed astride the inside of the yoke 7 whose vertical sections serve as guide rails for its linear movement; the cable 2 is plugged into a well made in the movable jaw 12 and counter-clamped by means of a screw for its blocking.
  • the movable jaw 12 is formed of an internal block 121 of the same size as the width of the yoke 7 to form a lateral guide to the jaw 12.
  • Above and below the piece 121 are reported two plates 122 and 123 coming to bear on the edges of the yoke 7 so as to form a slide with the two blanks 71, 72 of the yoke 7.
  • the fixed jaw 8 is constituted in the same way as the mobile jaw 12 by a central block fixed on either side to the two lateral wings 71, 72 of the yoke 7 and held above and below by two counter-plates shaped as the jaw 12 to receive the second control ear 5 of the collar 6.
  • the remote manipulator 1 is essentially constituted by two arms 13,14 capable of deviating from one another by rotation about an axis 15 in order to determine between their two ends 131,141 a displacement equivalent to that of the jaw free 12 on the yoke 7 in the direction and until contact with the fixed jaw 8.
  • This linear movement of the fixed jaw 12 is naturally obtained by pulling on the cable 2 fixed at the end 141 of the inner arm 14 of the manipulator 1, thanks to to a pin or a screw 142.
  • the cable 2 transmits its movement to the tool 4 by means of the sheath 3 coming to do this in abutment on the end 131 of the outer arm 13 of the remote manipulator 1.
  • each arm 13 or 14 is associated with a handle, respectively 16 or 17, according to a particular arrangement making each arm correspond to the handle located on the same side of a line XX 'coinciding with the midline sleeves 16,17 and arms 13,14 passing through their center or their axis of articulation 15; in accordance with FIG. 1, it follows that when the two handles 16 and 17 are brought together by rotation about the axis 15 the arms 13 and 14 are moved apart, and conversely, when the sleeves are moved apart one on the other, we tend to bring the two arms 13 and 14 together.
  • the manipulator 1 is cut from a strip of thickness 5 mm for example, determining on either side of a plate, centered on the axis 15 and used for the rotation of the tool, on one side of the handle supports 18,19 and on the other, respectively the arms 13 and 14 which have been previously twisted on themselves by 90 ° to serve, by the outer arm, stop for the sheath 3 and by the inner arm, fixing system for the actuation cable 2.
  • two ergonomic handles are fixed astride the two ends of the sleeve supports 18 and 19 to provide a better grip of the tool.
  • the remote manipulator 1 in the rest position, that is to say the two handles 16,17 close to each other, is such that a first arm 13 is located in the extension of the handle 16 with which it is associated along an axis YY 'of direction perpendicular to the axis of articulation 15, the two axes n 'not necessarily intersecting and that the second arm 14 forms with the handle 17 with which it is associated, an angle ⁇ in the plane of movement perpendicular to the axis of articulation 15 of a value such as the distance between the free ends 131,141 of the two arms 13,14 is at least equal to the displacement of the movable jaw 12 from its most distant position on the yoke 7 until contact with the fixed jaw 8 of the tool 4.
  • the manipulator 1 still in its rest position, is such that each arm 13, 14 is symmetrically inclined relative to the median axis YY ′ of the tool so that, in the final analysis, it determines an angle ⁇ identical to variant a.
  • the manipulator 1 is such that the two arms 13, 14 are inclined on the same side as the median axis YY '; naturally the inclination of the outer 13 and inner 14 arms is calculated so that, in the rest position that is to say in the position where the two sleeves 16,17 are brought together, the arms make an angle between them equal to ⁇ as in the previous variants.
  • the articulation zone 143 of the inner arm 14 does not coincide with the junction zone 144 of the same arm 14 with its handle 17, but it is offset thanks to an appendage 145 joining the two zones 143.144; it is easily understood that the length of the appendix 145 joining the articulation axis 15 to the assembly constituted by the arm 14 and the handle 17, depends the position of the arms 13,14 in particular when the two handles are in the most distant position, with the consequence of better adapting the traction torque exerted by the arm 14 on the cable 2 and reducing the angle of the cable 2 relative to the arm 13 when the arm 14 describes the angle ⁇ improving the operation of the remote manipulator 1; a person skilled in the art knows how to perfectly adapt the geometry of all these elements, that is to say the length of the arms 13,14 as well as the length of the appendix 145 as a function naturally of the length of the sleeves 16,17 constituting the lever arms of the manipulator 1.
  • a return spring 20 tending to spread the same sleeves at rest, that is to say at push back the movable jaw at the end of the yoke 7 of the tool 4.
  • the spring 20 is a simple helical spring blocked between two bosses provided on the edge of the sleeve supports 18,19.
  • a ratchet mechanism 21 is advantageously provided, mounted for example on the handle support 19, so that its end hook 22 comes to cooperate with a lug 23 provided on the other handle support 18 to hold one against the other the two sleeves when they are close together, that is to say when the movable jaw 12 is brought near the fixed jaw 8; naturally, a manual device 24 makes it possible to disengage the hook 22 from the lug 23 at any time, and thus release the two sleeves and thereby, any traction on the control ears 5 releasing the elastic collar 6.
  • manipulator 1 coupled with its tool 4 is particularly suitable for mounting and dismounting elastic band collars, it is always possible to use the manipulator in all cases where it is necessary to actuate two jaws linearly between them and this, remotely, by means of a flexible sheath; in this sense, the particular application to elastic collars constitutes an example which is undoubtedly important but in no way limiting the scope of the invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Flexible Shafts (AREA)
  • Jigs For Machine Tools (AREA)
  • Electric Cable Installation (AREA)
  • Gripping On Spindles (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Clamps And Clips (AREA)

Abstract

A device for the remote handling of equipment (4) for instance designed for mounting elastic rings (6) comprises a fixed jaw (8) and a mobile jaw (12) which moves linearly relative to the fixed jaw (8) by actuating elements coupled to the equipment (4) by a cable (2) connected to the mobile jaw (12) inside a sheath (3) one end of which comes to stop (10) on the fixed jaw (8). The actuating elements consist of two branches (13, 14) articulated on a common axis (15) such that the distance between their free end (131, 141) is not less than the maximum displacement of the mobile jaw (12), when bringing closer the two handles (16, 17) respectively integral with the two branches (13, 14) of which the free end (131) of one (13) acts as a stop to the other end of the sheath (3) while allowing the cable (2) that is connected to the free end (14) of the other arm (14) to slide.

Description

SYSTEME DE TELEMANIPULATION D'UN OUTILLAGE PARTICULIEREMENT ADAPTE AUX COLLIERS ELASTIQUES SYSTEM FOR TELEMANIPULATION OF A TOOL PARTICULARLY SUITABLE FOR ELASTIC COLLARS
La présente invention concerne un système de télémanipulation d'outillages tels que ceux, comprenant un mors fixe et un mors mobile susceptible de se déplacer linéairement par rapport au mors fixe par des moyens d'actionnement situés à distance, particulièrement utile au montage et au démontage de colliers élastiques à bande largement utilisés dans le domaine de l'automobile, par exemple pour la fixation des durites sur des canalisations de refroidissement subissant de larges variations de leur diamètre extérieur, en raison de fortes dilatations ; on sait alors que pour maintenir des liaisons étanc es entre durite et canalisation, il n'est pas possible d'utiliser par exemple des colliers rigides à vis, d'où l'intérêt des colliers de serrage élastiques appelés par la suite colliers élastiques.The present invention relates to a remote handling system for tools such as those, comprising a fixed jaw and a mobile jaw capable of moving linearly relative to the fixed jaw by actuation means located at a distance, particularly useful for mounting and dismounting. elastic band collars widely used in the automotive field, for example for fixing hoses to cooling pipes undergoing wide variations in their outside diameter, due to large expansions; we then know that to maintain tight connections between hose and pipe, it is not possible to use, for example, rigid screw collars, hence the interest of elastic clamps called elastic collars hereinafter.
Rappelons que de tels colliers sont classiquement fabriqués à partir d'une bande de feuillard mise en forme selon une bague généralement circulaire. La bague en question est naturellement susceptible de se déformer par ecartement de ses deux extrémités qui créé un couple de rappel élastique utilisé comme serrage ; il est depuis longtemps connu de réaliser ce type de collier en faisant se chevaucher les deux extrémités d'une bande ressort ; une découpe médiane de la bande du collier s ' étend sur quelques centimètres à l'une de ses extrémités pour former un passage pour l'autre qui est diminuée en largeur pour coïncider avec ledit passage ; les deux extrémités de la bande sont munies d'une oreille d'entraînement obtenue par simple pliage rectangulaire de leurs parties extrêmes vers l'extérieur du collier de telle manière que grâce à une pince munie de mors, on puisse aisément rapprocher les deux oreilles de commande c'est-à-dire agrandir le diamètre du collier provoquant lorsqu'on relâche le couple de rappel élastique nécessaire au serrage. De nombreux outillages pour le montage et le démontage des colliers élastiques sont à la disposition des utilisateurs, et la plupart de ces outillages, manuels ou automatiques fonctionnent sur des systèmes à levier très simples comme par exemple des pinces en X.Recall that such necklaces are conventionally made from a strip of strip shaped in a generally circular ring. The ring in question is naturally liable to deform by the separation of its two ends which creates an elastic return torque used for tightening; it has long been known to produce this type of collar by overlapping the two ends of a spring band; a median cut of the band of the collar extends over a few centimeters at one of its ends to form a passage for the other which is reduced in width to coincide with said passage; the two ends of the strip are provided with a drive lug obtained by simple rectangular folding of their end portions towards the outside of the collar so that, thanks to a clamp provided with jaws, the two lugs can easily be brought together control, that is to say to enlarge the diameter of the collar, causing when the elastic return torque necessary for tightening is released. Many tools for mounting and dismounting elastic collars are available of users, and most of these tools, manual or automatic, operate on very simple lever systems such as, for example, X-type pliers.
L'inconvénient majeur de ces outillages pour colliers élastiques réside dans le fait qu'au montage sur les durites d'un moteur automobile par exemple, il est pratiquement impossible d'obtenir à coup sûr une mise en place précise du collier sur un manchon. En effet, le collier ayant un diamètre nettement supérieur au diamètre du manchon à serrer peut se retrouver dans n'importe quelle position lorsque l'on relâche les deux oreilles dudit collier pour procéder à son serrage ; à cet instant, le collier adopte une position totalement aléatoire généralement incontrôlable par le monteur qui n ' a souvent aucune visibilité ; il est même fréquent d'observer qu'au montage, ce type de collier relâché brusquement et positionné de travers, vienne altérer la durite montée sur l'embout de canalisation ; dans l'hypothèse favorable où le monteur s'en aperçoit, la mise en place correcte du collier mal positionné nécessite une reprise souvent difficile, compte tenu du manque d'accessibilité généralement observé ; il est de toute façon obligatoire de procéder à un desserrage minimum du collier pour le remettre en bonne position, ce qui est souvent impossible. Pour pallier à de telles difficultés notamment d'accès, on a souvent recourt à des systèmes de pince à grand déploiement qui restent très peu maniables et surtout à des dispositifs munis d'organes de relayage déformables susceptibles d'atteindre les zones d'accès difficiles.The major drawback of these tools for elastic collars lies in the fact that, when mounted on the hoses of an automobile engine, for example, it is practically impossible to obtain precise positioning of the collar on a sleeve. Indeed, the collar having a diameter significantly greater than the diameter of the sleeve to be clamped can be found in any position when the two ears of said collar are released to tighten it; at this instant, the collar adopts a totally random position generally uncontrollable by the fitter who often has no visibility; it is even common to observe that during assembly, this type of collar released abruptly and positioned at an angle, comes to alter the hose mounted on the pipe end; in the favorable hypothesis where the assembler realizes it, the correct installation of the badly positioned collar requires an often difficult recovery, taking into account the lack of accessibility generally observed; it is in any case compulsory to carry out a minimum loosening of the collar to put it back in good position, which is often impossible. To overcome such difficulties in particular of access, we often have recourse to large deployment clamp systems which remain very difficult to handle and above all to devices provided with deformable relay elements capable of reaching difficult access areas. .
Parmi ces dispositifs, on connaît bien ceux qui sont adaptés pour le montage de colliers élastiques précontraints comportant à l'origine un cavalier de serrage pour maintenir rapprochées les deux oreilles de commande du collier ; c'est par exemple la solution proposée dans le brevet DE-4312846 dans laquelle le cavalier est disposé en bout d'un outillage spécialisé dont le but est essentiellement d'éjecter ledit cavalier de précontrainte lorsque le collier aura été correctement positionné sur la liaison que l'on veut réaliser ; de tels outillages souvent encombrants ne permettent pratiquement que d'effectuer le montage des colliers précontraints. Leur démontage par exemple au moment d'une réparation restant toujours une difficulté qui, à ce jour, n'a trouvé comme seule solution que l'utilisation de dispositifs pneumatiques susceptibles d'apporter un couple suffisant en des points très difficilement accessibles. La présente invention a pour but de pallier ces différents inconvénients ; à cet égard il est proposé un système de télémanipulation d'un outillage comprenant un mors fixe et un mors mobile susceptible de se déplacer linéairement par rapport au mors fixe par des moyens d'actionnement situés à distance et couplés audit outillage par l'intermédiaire d'un câble relié d'un côté au mors mobile et coulissant à l'intérieur d'une gaine avantageusement souple dont une extrémité vient en butée sur le mors fixe pour laisser coulisser le câble, un tel système étant caractérisé en ce que les moyens d'actionnement consistent en deux bras qui sont articulés sur un même axe de telle façon qu'ils s'écartent angulairement d'une valeur telle que la distance entre leur extrémité libre soit au moins égale au déplacement maximum du mors mobile, lorsque l'on rapproche l'un vers l'autre deux manches respectivement solidaires des deux bras dont 1 ' extrémité libre de 1 ' un sert de butée à l'autre extrémité de la gaine tout en laissant coulisser librement le câble qui le traverse et qui est relié a. l'extrémité libre de l'autre bras.Among these devices, we are well aware of those which are suitable for mounting pre-stressed elastic collars originally comprising a clamping jumper to keep the two collar control ears close together; this is for example the solution proposed in patent DE-4312846 in which the rider is disposed at the end of a specialized tool whose purpose is essentially to eject said rider prestressing when the collar has been correctly positioned on the link that we want to achieve; such often bulky tools practically only allow the assembly of prestressed collars. Dismantling them, for example during a repair, remains a difficulty which, to date, has found as the only solution the use of pneumatic devices capable of providing sufficient torque at points which are very difficult to access. The present invention aims to overcome these various drawbacks; in this regard, there is proposed a remote handling system for a tool comprising a fixed jaw and a movable jaw capable of moving linearly relative to the fixed jaw by actuation means located at a distance and coupled to said tool via '' a cable connected on one side to the movable jaw and sliding inside an advantageously flexible sheath, one end of which abuts on the fixed jaw to allow the cable to slide, such a system being characterized in that the means d actuation consist of two arms which are articulated on the same axis so that they deviate angularly by a value such that the distance between their free end is at least equal to the maximum displacement of the movable jaw, when one brings together two handles respectively secured to the two arms, the free end of one of which serves as a stop at the other end of the sheath while leaving the slide r freely the cable which crosses it and which is connected a. the free end of the other arm.
Ce système de manipulation dont chaque bras et le manche qui lui est associé restent, dans le plan de leurs mouvements respectifs, du même côté d'une ligne médiane du plan passant entre les deux bras, les deux manches et leur centre d'articulation, est particulièrement avantageux pour une application au montage et démontage de colliers élastiques même situés en des points très difficilement accessibles, ce qui est généralement le cas dans les moteurs des véhicules actuels.This manipulation system in which each arm and the handle associated with it remain, in the plane of their respective movements, on the same side of a median line of the plane passing between the two arms, the two handles and their center of articulation, is particularly advantageous for an application to the assembly and disassembly of elastic collars even located at points very difficult accessible, which is generally the case in the engines of current vehicles.
Il est en effet suffisant de conformer le mors fixe et le mors mobile de l'outillage télémanipulé pour qu'il vienne s'encastrer sur les oreilles de commande d'un collier élastique tout à fait classique et non précontraint. S'il s'agit d'un démontage, il est très facile d'enclencher les deux mors autour des oreilles de commande du collier à desserrer par une main gauche par exemple, la main droite tenant le télémanipulateur, en position manches écartés, pour faciliter l'entrée des mors sur les oreilles de commande ; pour le démontage, il suffira par une simple pression de la main droite, de rapprocher les deux manches, ce qui détermine un couple d'entraînement suffisant pour rapprocher le mors mobile du mors fixe avec la conséquence d'agrandir le diamètre du collier et donc de procurer le desserrage souhaité. A l'inverse, si l'on souhaite repositionner le collier ainsi desserré soit en bonne position, soit à une autre position sur la durite, il suffit de relâcher doucement les deux manches du télémanipulateur jusqu'à ce que la main gauche puisse dégager facilement les mors mobile et fixe des oreilles de commande du collier.It is indeed sufficient to conform the fixed jaw and the movable jaw of the remote-controlled tooling so that it comes to be fitted on the control ears of a completely conventional elastic collar and not prestressed. If it is a disassembly, it is very easy to engage the two jaws around the control ears of the collar to be loosened by a left hand for example, the right hand holding the remote manipulator, in the position with the sleeves apart, to facilitate the entry of the jaws on the control ears; for disassembly, it will be enough by a simple pressure of the right hand, to bring the two sleeves together, which determines a sufficient driving torque to bring the mobile jaw closer to the fixed jaw with the consequence of enlarging the diameter of the collar and therefore to provide the desired loosening. Conversely, if you wish to reposition the loosened collar either in the correct position or at another position on the hose, simply release the two handles of the manipulator gently until the left hand can easily release the movable and fixed jaws of the collar control ears.
On comprend bien tout l'intérêt d'un tel système de télémanipulation et d'autres caractéristiques et avantages ressortiront mieux encore de la description d'un télémanipulateur, donnée maintenant à titre d'exemple non limitatifs de l'invention en référence aux dessins annexés sur lesquels : - la figure 1 représente en trait plein un télémanipulateur conforme à l'invention vu de face en position "manches rapprochés" correspondant à un collier élastique précontraint en position de montage et en trait mixte fin le même manipulateur en position "manche écartés" correspondant en principe à la position de serrage des colliers élastiques, - la figure 2 est une vue de côté du télémanipulateur de la figure précédente en position maximale d'ouverture pour le mors mobile,It is well understood all the interest of such a remote handling system and other characteristics and advantages will emerge even better from the description of a remote manipulator, given now by way of nonlimiting example of the invention with reference to the accompanying drawings. in which: - Figure 1 shows in solid lines a remote manipulator according to the invention seen from the front in "close sleeves" position corresponding to a pre-stressed elastic collar in the mounting position and in thin broken lines the same manipulator in the "sleeve apart" position "corresponding in principle to the tightening position of the elastic collars, FIG. 2 is a side view of the manipulator of the previous figure in the maximum open position for the movable jaw,
- la figure 3 représente schématiquement les trois principales variantes de forme du télémanipulateur conforme à l'invention.- Figure 3 shows schematically the three main variants of the form of the manipulator according to the invention.
En référence aux figures, le télémanipulateur 1 conforme à 1 ' invention est relié par un ensemble comprenant un câble 2 à 1 ' intérieur d ' une gaine 3 , à un outillage 4 permettant d'agir sur les oreilles de commande 5 d'un collier élastique 6 en vue de son montage ou démontage par exemple sur une durite de canalisation.With reference to the figures, the remote manipulator 1 according to the invention is connected by an assembly comprising a cable 2 inside a sheath 3, to a tool 4 making it possible to act on the control ears 5 of a collar elastic 6 for assembly or disassembly, for example on a pipe hose.
Conformément aux figures 1 et 2 1 ' outillage 4 pour le serrage desserrage du collier 6 est pour l'essentiel constitué par une chape 7 avantageusement obtenue à partir d'un fer plat plié en U dont les deux ailes sont réunies en leur extrémité autour d ' une pièce 8 constituant le mors fixe. Le mors fixe est muni dans sa partie arrière 9 d'un alésage 10 à l'intérieur duquel vient en butée la gaine souple 3. Dans le même axe que l'alésage 10 un trou 11 permet le passage du câble 2 qui peut s'étendre jusqu'au mors mobile 12 disposé à cheval à l'intérieur de la chape 7 dont les tranches verticales servent de rail de guidage pour son déplacement linéaire ; le câble 2 est enfiché dans un puits pratiqué dans le mors mobile 12 et contresserré au moyen d'une vis pour son blocage.In accordance with FIGS. 1 and 2, the tool 4 for tightening and loosening the collar 6 is essentially constituted by a yoke 7 advantageously obtained from a flat iron bent in a U, the two wings of which are joined at their ends around d 'A part 8 constituting the fixed jaw. The fixed jaw is provided in its rear part 9 with a bore 10 inside which the flexible sheath 3 abuts. In the same axis as the bore 10 a hole 11 allows the passage of the cable 2 which can extend to the movable jaw 12 disposed astride the inside of the yoke 7 whose vertical sections serve as guide rails for its linear movement; the cable 2 is plugged into a well made in the movable jaw 12 and counter-clamped by means of a screw for its blocking.
Le mors mobile 12 est formé d'un bloc interne 121 de même encombrement que la largeur de la chape 7 pour former un guidage latéral au mors 12. Au dessus et au dessous de la pièce 121 sont rapportées deux plaques 122 et 123 venant en appui sur les tranches de la chape 7 de manière à former une glissière avec les deux flans 71,72 de la chape 7. A partir des plaques 122 et 123 formant les glissières, et du côté du mors mobile 12 en regard du mors fixe 8, on prévoit des pans inclinés 124 vers l'intérieur du bloc 121 permettant de constituer un logement en demi- queue d'aronde pour accueillir la première oreille de commande 5 du collier 6 sans risquer au moment du serrage son déboîtement intempestif .The movable jaw 12 is formed of an internal block 121 of the same size as the width of the yoke 7 to form a lateral guide to the jaw 12. Above and below the piece 121 are reported two plates 122 and 123 coming to bear on the edges of the yoke 7 so as to form a slide with the two blanks 71, 72 of the yoke 7. From the plates 122 and 123 forming the slideways, and on the side of the movable jaw 12 opposite the fixed jaw 8, provision is made for inclined faces 124 towards the inside of the block 121 making it possible to constitute a half-dovetail housing for accommodating the first ear of command 5 of the collar 6 without risking inadvertent dislocation when tightening.
Accessoirement le mors fixe 8 est constitué de la même manière que le mors mobile 12 par un bloc central fixé de part et d'autre aux deux ailes latérales 71,72 de la chape 7 et maintenues dessus et dessous par deux contre-plaques conformées comme le mors 12 pour recevoir la seconde oreille de commande 5 du collier 6.Incidentally, the fixed jaw 8 is constituted in the same way as the mobile jaw 12 by a central block fixed on either side to the two lateral wings 71, 72 of the yoke 7 and held above and below by two counter-plates shaped as the jaw 12 to receive the second control ear 5 of the collar 6.
Le télémanipulateur 1 est pour l'essentiel constitué par deux bras 13,14 susceptibles de s'écarter l'un de l'autre par rotation autour d'un axe 15 afin de déterminer entre leurs deux extrémités 131,141 un déplacement équivalent à celui du mors libre 12 sur la chape 7 en direction et jusqu'au contact avec le mors fixe 8. Ce mouvement linéaire du mors fixe 12 est naturellement obtenu par traction sur le câble 2 fixé à l'extrémité 141 du bras intérieur 14 du télémanipulateur 1, grâce à une goupille ou une vis 142. Bien entendu, le câble 2 transmet son mouvement à l'outillage 4 au moyen de la gaine 3 venant pour ce faire en butée sur l'extrémité 131 du bras extérieur 13 du télémanipulateur 1.The remote manipulator 1 is essentially constituted by two arms 13,14 capable of deviating from one another by rotation about an axis 15 in order to determine between their two ends 131,141 a displacement equivalent to that of the jaw free 12 on the yoke 7 in the direction and until contact with the fixed jaw 8. This linear movement of the fixed jaw 12 is naturally obtained by pulling on the cable 2 fixed at the end 141 of the inner arm 14 of the manipulator 1, thanks to to a pin or a screw 142. Of course, the cable 2 transmits its movement to the tool 4 by means of the sheath 3 coming to do this in abutment on the end 131 of the outer arm 13 of the remote manipulator 1.
Selon une caractéristique essentielle de l'invention, chaque bras 13 ou 14 est associé à un manche, respectivement 16 ou 17, selon une disposition particulière faisant correspondre chaque bras au manche situé du même côté d'une ligne XX' coïncidant avec la ligne médiane des manches 16,17 et des bras 13,14 passant par leur centre ou leur axe d'articulation 15 ; conformément à la figure 1, il résulte que lorsqu'on rapproche les deux manches 16 et 17 par rotation autour de l'axe 15 on écarte les bras 13 et 14, et à l'inverse, lorsqu'on écarte les manches l'un de l'autre, on tend à rapprocher les deux bras 13 et 14.According to an essential characteristic of the invention, each arm 13 or 14 is associated with a handle, respectively 16 or 17, according to a particular arrangement making each arm correspond to the handle located on the same side of a line XX 'coinciding with the midline sleeves 16,17 and arms 13,14 passing through their center or their axis of articulation 15; in accordance with FIG. 1, it follows that when the two handles 16 and 17 are brought together by rotation about the axis 15 the arms 13 and 14 are moved apart, and conversely, when the sleeves are moved apart one on the other, we tend to bring the two arms 13 and 14 together.
Selon une construction particulièrement avantageuse du télémanipulateur 1, en référence notamment à la figure 2, le télémanipulateur 1 est découpé dans du feuillard d'épaisseur 5 mm par exemple, déterminant de part et d'autre d'une plaque, centrée sur l'axe 15 et servant à la rotation de l'outil, d'un côté des supports de manches 18,19 et de l'autre, respectivement les bras 13 et 14 que l'on aura préalablement tordus sur eux-mêmes de 90° pour servir, par le bras extérieur, de butée pour la gaine 3 et par le bras intérieur, de système de fixation pour le câble d ' actionnement 2.According to a particularly advantageous construction of the manipulator 1, with particular reference to FIG. 2, the manipulator 1 is cut from a strip of thickness 5 mm for example, determining on either side of a plate, centered on the axis 15 and used for the rotation of the tool, on one side of the handle supports 18,19 and on the other, respectively the arms 13 and 14 which have been previously twisted on themselves by 90 ° to serve, by the outer arm, stop for the sheath 3 and by the inner arm, fixing system for the actuation cable 2.
Accessoirement, deux poignées ergonomiques sont fixées à cheval sur les deux extrémités des supports de manches 18 et 19 pour procurer une meilleure préhension de l'outil.Incidentally, two ergonomic handles are fixed astride the two ends of the sleeve supports 18 and 19 to provide a better grip of the tool.
Conformément aux figures 3, il est possible de réaliser le télémanipulateur 1 conforme à l'invention suivant trois configurations principales : selon la figure 3a, le télémanipulateur 1, en position de repos, c'est-à-dire les deux manches 16,17 rapprochés l'un de l'autre, est tel qu'un premier bras 13 se situe dans le prolongement du manche 16 auquel il est associé suivant un axe YY' de direction perpendiculaire à l'axe d'articulation 15, les deux axes n'étant pas nécessairement sécants et que le second bras 14 forme avec le manche 17 auquel il est associé, un angle α dans le plan du mouvement perpendiculaire à 1 ' axe d'articulation 15 d'une valeur telle que la distance entre les extrémités libres 131,141 des deux bras 13,14 soit au moins égale au déplacement du mors mobile 12 depuis sa position la plus éloignée sur la chape 7 jusqu'au contact avec le mors fixe 8 de l'outillage 4.In accordance with FIGS. 3, it is possible to produce the remote manipulator 1 according to the invention according to three main configurations: according to FIG. 3a, the remote manipulator 1, in the rest position, that is to say the two handles 16,17 close to each other, is such that a first arm 13 is located in the extension of the handle 16 with which it is associated along an axis YY 'of direction perpendicular to the axis of articulation 15, the two axes n 'not necessarily intersecting and that the second arm 14 forms with the handle 17 with which it is associated, an angle α in the plane of movement perpendicular to the axis of articulation 15 of a value such as the distance between the free ends 131,141 of the two arms 13,14 is at least equal to the displacement of the movable jaw 12 from its most distant position on the yoke 7 until contact with the fixed jaw 8 of the tool 4.
Selon une autre variante représentée en figure 3b, le télémanipulateur 1, toujours dans sa position de repos, est tel que chaque bras 13,14 soit symétriquement incliné par rapport à l'axe médian YY' de l'outil pour qu'en définitif, il détermine un angle α identique à la variante a.According to another variant shown in FIG. 3b, the manipulator 1, still in its rest position, is such that each arm 13, 14 is symmetrically inclined relative to the median axis YY ′ of the tool so that, in the final analysis, it determines an angle α identical to variant a.
Selon enfin une dernière variante représentée en figure 3ç_, le télémanipulateur 1 est tel que les deux bras 13,14 sont inclinés du même côté que l'axe médian YY' ; naturellement l'inclinaison des bras extérieur 13 et intérieur 14 est calculée pour que, en position de repos c'est-à-dire dans la position où les deux manches 16,17 sont rapprochés, les bras fassent entre-eux un angle égal à α comme dans les variantes précédentes.Finally, according to a last variant shown in FIG. 3c, the manipulator 1 is such that the two arms 13, 14 are inclined on the same side as the median axis YY '; naturally the inclination of the outer 13 and inner 14 arms is calculated so that, in the rest position that is to say in the position where the two sleeves 16,17 are brought together, the arms make an angle between them equal to α as in the previous variants.
Selon une disposition préférée de l'invention, la zone d'articulation 143 du bras intérieur 14 ne coïncide pas avec la zone de jonction 144 du même bras 14 avec son manche 17, mais elle est déportée grâce à un appendice 145 réunissant les deux zones 143,144 ; on comprend facilement que de la longueur de l'appendice 145 joignant l'axe d'articulation 15 à l'ensemble constitué par le bras 14 et le manche 17, dépend la position des bras 13,14 notamment lorsque les deux manches sont dans la position la plus écartée, avec la conséquence d'adapter mieux le couple de traction qu'exerce le bras 14 sur le câble 2 et de diminuer l'angle du câble 2 par rapport au bras 13 lorsque le bras 14 décrit l'angle α améliorant le fonctionnement du télémanipulateur 1 ; l'homme du métier sait parfaitement adapter la géométrie de tous ces éléments, c'est-à-dire la longueur des bras 13,14 ainsi que la longueur de l'appendice 145 en fonction naturellement de la longueur des manches 16,17 constituant les bras de levier du télémanipulateur 1.According to a preferred arrangement of the invention, the articulation zone 143 of the inner arm 14 does not coincide with the junction zone 144 of the same arm 14 with its handle 17, but it is offset thanks to an appendage 145 joining the two zones 143.144; it is easily understood that the length of the appendix 145 joining the articulation axis 15 to the assembly constituted by the arm 14 and the handle 17, depends the position of the arms 13,14 in particular when the two handles are in the most distant position, with the consequence of better adapting the traction torque exerted by the arm 14 on the cable 2 and reducing the angle of the cable 2 relative to the arm 13 when the arm 14 describes the angle α improving the operation of the remote manipulator 1; a person skilled in the art knows how to perfectly adapt the geometry of all these elements, that is to say the length of the arms 13,14 as well as the length of the appendix 145 as a function naturally of the length of the sleeves 16,17 constituting the lever arms of the manipulator 1.
Selon des dispositions accessoires du télémanipulateur 1, il est prévu de disposer entre les deux manches 16,17 et à proximité de leur articulation 15, un ressort de rappel 20 tendant à écarter au repos les mêmes manches, c'est-à-dire à repousser le mors mobile à l'extrémité de la chape 7 de l'outillage 4.According to accessory provisions of the manipulator 1, provision is made to have between the two sleeves 16,17 and near their articulation 15, a return spring 20 tending to spread the same sleeves at rest, that is to say at push back the movable jaw at the end of the yoke 7 of the tool 4.
Le ressort 20 est un simple ressort hélicoïdal bloqué entre deux bossages prévus sur la tranche des supports de manches 18,19.The spring 20 is a simple helical spring blocked between two bosses provided on the edge of the sleeve supports 18,19.
De la même manière, il est avantageusement prévu un mécanisme à cliquet 21, monté par exemple sur le support de manche 19, de telle manière que son crochet d'extrémité 22 viennent coopérer avec un ergot 23 prévu sur l'autre support de manche 18 pour maintenir l'un contre 1 ' autre les deux manches lorsque ceux-ci sont rapprochés, c'est-à-dire lorsque le mors mobile 12 est amené à proximité du mors fixe 8 ; naturellement, un dispositif manuel 24 permet de désenclencher le crochet 22 de l'ergot 23 à tout moment, et ainsi libérer les deux manches et par là, toute traction sur les oreilles de commande 5 dégageant le collier élastique 6.Similarly, a ratchet mechanism 21 is advantageously provided, mounted for example on the handle support 19, so that its end hook 22 comes to cooperate with a lug 23 provided on the other handle support 18 to hold one against the other the two sleeves when they are close together, that is to say when the movable jaw 12 is brought near the fixed jaw 8; naturally, a manual device 24 makes it possible to disengage the hook 22 from the lug 23 at any time, and thus release the two sleeves and thereby, any traction on the control ears 5 releasing the elastic collar 6.
Il est bien évident que si le télémanipulateur 1 couplé avec son outillage 4 est particulièrement adapté au montage et démontage des colliers à bande élastique, il est toujours possible d'utiliser le télémanipulateur dans tous les cas où il est nécessaire d'actionner linéairement deux mors entre-eux et ce, à distance, au moyen d'une gaine souple ; en ce sens, l'application particulière aux colliers élastiques constitue un exemple sans doute important mais en aucun cas, limitatif de la portée de l'invention. It is obvious that if the manipulator 1 coupled with its tool 4 is particularly suitable for mounting and dismounting elastic band collars, it is always possible to use the manipulator in all cases where it is necessary to actuate two jaws linearly between them and this, remotely, by means of a flexible sheath; in this sense, the particular application to elastic collars constitutes an example which is undoubtedly important but in no way limiting the scope of the invention.

Claims

REVENDICATIONS
1 - Système de télémanipulation d'un outillage (4) comprenant un mors fixe (8) et un mors mobile (12) susceptible de se déplacer linéairement par rapport au mors fixe (8) par des moyens d'actionnement situés à distance et couplés audit outillage (4) par l'intermédiaire d'un câble (2) relié d'un côté au mors mobile (12) et coulissant à l'intérieur d'une gaine (3) avantageusement souple dont une extrémité vient en butée sur le mors fixe (8) pour laisser coulisser le câble (2), caractérisé en ce que les moyens d'actionnement consistent en deux bras (13,14) qui sont articulés sur un même axe (15) de telle façon qu'ils s'écartent angulairement d'une valeur α telle que la distance entre leur extrémité (131,141) libre soit au moins égale au déplacement linéaire maximum du mors mobile (12), lorsque l'on rapproche l'un vers l'autre deux manches (16,17) respectivement solidaires des deux bras (13,14) dont l'extrémité libre (131) de l'un (13) sert de butée à l'autre extrémité de la gaine (3) tout en laissant coulisser librement le câble (2) qui le traverse et qui est relié à l'extrémité libre (141) de l'autre bras (14).1 - Remote handling system for a tool (4) comprising a fixed jaw (8) and a mobile jaw (12) capable of moving linearly relative to the fixed jaw (8) by actuation means located at a distance and coupled to said tool (4) by means of a cable (2) connected on one side to the movable jaw (12) and sliding inside a sheath (3) advantageously flexible, one end of which abuts on the fixed jaw (8) to allow the cable (2) to slide, characterized in that the actuating means consist of two arms (13,14) which are articulated on the same axis (15) so that they angularly deviate by a value α such that the distance between their free end (131,141) is at least equal to the maximum linear displacement of the movable jaw (12), when two sleeves (16, 17) respectively secured to the two arms (13,14) whose free end (131) of one (13) serves as a stop for the ur end of the sheath (3) while allowing the cable (2) which passes through it to slide freely and which is connected to the free end (141) of the other arm (14).
2 - Système de télémanipulation selon la revendication 1 caractérisé en ce que chaque bras (13,14) et le manche (16,17) qui lui est associé restent, dans le plan de leurs mouvements respectifs, du même côté d'une ligne médiane (XX' ) du plan passant entre les deux bras (13,14), les deux manches (16,17) et par leur centre d'articulation (15).2 - remote handling system according to claim 1 characterized in that each arm (13,14) and the handle (16,17) associated therewith remain, in the plane of their respective movements, on the same side of a median line (XX ') of the plane passing between the two arms (13,14), the two sleeves (16,17) and through their center of articulation (15).
3 - Télémanipulateur (1) d'un outillage (4) mettant en oeuvre 1 ' une ou 1 ' autre des revendications 1 ou 2 comprenant un mors fixe (8) et un mors mobile (12) susceptible de se déplacer linéairement par rapport au mors fixe (8) par des moyens d'actionnement situés à distance et couplés audit outillage (4) par l'intermédiaire d'un câble (2) relié d'un côté au mors mobile (12) et coulissant à l'intérieur d'une gaine (3) avantageusement souple dont une extrémité vient en butée (10) sur le mors fixe (8) pour laisser coulisser le câble (2) mettant en oeuvre l'une ou l'autre des revendications 1 ou 2 caractérisé en ce que au moins l'un (14) des deux bras et le manche (17) qui lui est associé forment entre-eux un angle α dans le plan du mouvement perpendiculaire à l'axe d'articulation (15) d'une valeur telle que lorsque les deux manches (16,17) sont rapprochés l'un de l'autre, la distance entre les extrémités libres (131,141) des deux bras (13,14) soit au moins égale au déplacement linéaire du mors mobile (12).3 - Remote manipulator (1) of a tool (4) implementing one or the other of claims 1 or 2 comprising a fixed jaw (8) and a mobile jaw (12) capable of moving linearly relative to the fixed jaw (8) by actuation means located at a distance and coupled to said tool (4) by means of a cable (2) connected on one side to the movable jaw (12) and sliding inside d '' an advantageously flexible sheath (3) one end of which comes stop (10) on the fixed jaw (8) for sliding the cable (2) implementing either of claims 1 or 2 characterized in that at least one (14) of the two arms and the handle (17) associated therewith form an angle α in the plane of movement perpendicular to the axis of articulation (15) of a value such that when the two handles (16,17) are brought together. 'from each other, the distance between the free ends (131,141) of the two arms (13,14) is at least equal to the linear displacement of the movable jaw (12).
4 - Télémanipulateur ( 1 ) selon la revendication 3 caractérisé en ce que l'autre bras (13) et son manche (16) sont alignés selon un axe (YY' ) de direction perpendiculaire à l'axe de l'articulation (15), les deux axes n'étant pas nécessairement sécants.4 - Remote manipulator (1) according to claim 3 characterized in that the other arm (13) and its handle (16) are aligned along an axis (YY ') of direction perpendicular to the axis of the joint (15) , the two axes not necessarily intersecting.
5 - Télémanipulateur (1) selon la revendication 3 caractérisé en ce que l'autre bras (13) et son manche (16) forment entre-eux un angle α dans le plan du mouvement perpendiculaire à l'axe d'articulation (15), inclinant ledit bras (13) à l'inverse du premier (14) d'une valeur telle que lorsque les deux manches (16,17) sont rapprochés l'un de l'autre, la distance entre les extrémités libres (131,141) des deux bras soit au moins égale au déplacement maximum du mors mobile (12). 6 - Télémanipulateur (1) selon la revendication 3 caractérisé en ce que l'autre bras (13) et son manche (16) forment entre-eux un angle α dans le plan du mouvement perpendiculaire à l'axe d'articulation (15), inclinant ledit bras (13) du même côté d'une ligne médiane (YY' ) passant entre les manches (16,17) et l'axe d'articulation (15), ledit bras (13), en position extérieure, servant préférentiellement de butée à la gaine (3 ) .5 - Remote manipulator (1) according to claim 3 characterized in that the other arm (13) and its handle (16) form between them an angle α in the plane of movement perpendicular to the axis of articulation (15) , tilting said arm (13) opposite the first (14) by a value such that when the two handles (16,17) are brought together, the distance between the free ends (131,141) of the two arms is at least equal to the maximum displacement of the movable jaw (12). 6 - Remote manipulator (1) according to claim 3 characterized in that the other arm (13) and its handle (16) form between them an angle α in the plane of movement perpendicular to the axis of articulation (15) , tilting said arm (13) on the same side of a median line (YY ') passing between the sleeves (16,17) and the articulation axis (15), said arm (13), in the external position, serving preferably from stop to sheath (3).
7 - Télémanipulateur (1) selon la revendication précédente caractérisé en ce que la zone d'articulation (143) du bras (14), en position intérieure ne coïncide pas avec la zone de jonction (144) dudit bras (14) avec son manche (17), qui est déportée par un appendice (145) réunissant les deux zones (143,144).7 - Remote manipulator (1) according to the preceding claim characterized in that the articulation zone (143) of the arm (14), in the internal position does not coincide with the junction zone (144) of said arm (14) with its handle (17), which is offset by an appendage (145) joining the two zones (143,144).
8 - Télémanipulateur (1) selon l'une quelconque des revendications 3 à 7 caractérisé en ce que chaque ensemble bras/manche est découpé dans du feuillard laissant sensiblement à plat les supports de manches (18,19) et l'articulation (15) alors que les bras (13,14) sont vrillés sur eux-même d'un angle de 90° pour accueillir en leur extrémité (131,141) les usinages formant la butée de gaine (3) pour l'un (13) et la fixation de câble (2) pour l'autre (14).8 - Remote manipulator (1) according to any one of claims 3 to 7 characterized in that each arm / handle assembly is cut from a strip leaving substantially flat the sleeve supports (18,19) and the joint (15) while the arms (13,14) are twisted on themselves at an angle of 90 ° to accommodate at their end (131,141) the machining operations forming the sheath stop (3) for one (13) and the fixing cable (2) for the other (14).
9 - Télémanipulateur (1) selon l'une quelconque des revendications 3 à 8 caractérisé en ce qu'un ressort de rappel (20) est disposé entre les deux manches (16,17) à proximité de leur articulation (15) tendant à écarter au repos lesdits manches (16,17) et donc les mors mobile (12) ou fixe (8) et en ce qu'un mécanisme à cliquet (21), monté sur l'un des manches coopérant avec un ergot (23) prévu sur l'autre, maintient les manches (13,14) l'un contre l'autre et donc rapproche le mors mobile (12) du mors fixe (8) sauf à libérer le cliquet (22) par action sur un mécanisme de déverrouillage (21,22,23).9 - Remote manipulator (1) according to any one of claims 3 to 8 characterized in that a return spring (20) is disposed between the two sleeves (16,17) near their articulation (15) tending to spread at rest said sleeves (16,17) and therefore the movable (12) or fixed (8) jaws and in that a ratchet mechanism (21), mounted on one of the sleeves cooperating with a lug (23) provided on the other, holds the sleeves (13,14) one against the other and therefore brings the movable jaw (12) closer to the fixed jaw (8) except to release the pawl (22) by action on an unlocking mechanism (21,22,23).
10 - Application du télémanipulateur (1) conforme à l'une quelconque des revendications précédentes au montage ou démontage d'un collier élastique (6) dont on place les oreilles de commande (5) entre le mors fixe (8) et le mors mobile (12) de l'outillage (4), dûment conformés à cet effet. 10 - Application of the remote manipulator (1) according to any one of the preceding claims to the mounting or dismounting of an elastic collar (6), the control ears (5) of which are placed between the fixed jaw (8) and the movable jaw (12) of the tools (4), duly conformed for this purpose.
REVENDICATIONS MODIFIEESAMENDED CLAIMS
[reçues par le Bureau international le 04 juin 1998 (04.06.98); revendications 1 à 10 remplacées par les revendications 1 à 7 modifiées (3 pages)][received by the International Bureau on 04 June 1998 (04.06.98); claims 1 to 10 replaced by claims 1 to 7 amended (3 pages)]
1 - Télémanipulateur (1) d'un outillage (4) comprenant un mors fixe (8) et un mors mobile (12) susceptible de se déplacer linéairement par rapport au mors fixe (8) par des moyens d'actionnement situés à distance et couplés audit outillage (4) par l'intermédiaire d'un câble (2) relié d'un côté au mors mobile (12) et coulissant à l'intérieur d'une gaine (3) avantageusement souple dont une extrémité vient en butée (10) sur le mors fixe (8) pour laisser coulisser le câble ( 2 ) caractérisé en ce que les moyens d ' actionnement consistent en deux bras (13,14) qui sont articulés sur un même axe (15) de telle façon qu'ils s'écartent angulairement d'une valeur (α) telle que la distance entre leur extrémité libre (131,141) libre soit au moins égale au déplacement linéaire maximum du mors mobile (12), lorsque 1 ' on rapproche 1 ' un vers 1 ' autre les deux manches (16,17) respectivement solidaires des deux bras (13,14), l'extrémité libre (131) du bras (13) servant de butée à 1 * autre extrémité de la gaine ( 3 ) tout en laissant coulisser librement le câble (2) qui le traverse et qui est relié à l'extrémité libre (141) de l'autre bras (14) et en ce qu'un mécanisme à cliquet (21), monté sur l'un (17) des manches coopérant avec un ergot (23) prévu sur l'autre (16), maintient lesdits manches (16,17) l'un contre l'autre et donc rapproche le mors mobile (12) du mors fixe (8), sauf à libérer le cliquet (22) par action sur un mécanisme de déverrouillage (21,22,23). 2 - Télémanipulateur ( 1 ) selon la revendication 1 caractérisé en ce que l'un (13) des deux bras (13,14) et son manche (16) sont alignés parallèlement à l'axe médian (YY' ) passant par l'axe de l'articulation (15) et en ce que l'autre bras (14) et son manche (17) forment entre-eux un angle (α) dans le plan du mouvement, perpendiculaire à l'axe d'articulation (15), d'une valeur telle que lorsque les deux manches (16,17) sont rapprochés l'un de l'autre, la distance entre les extrémités libres (131,141) des deux bras (13,14) soit au moins égale au déplacement linéaire maximum du mors mobile (12).1 - Remote manipulator (1) of a tool (4) comprising a fixed jaw (8) and a mobile jaw (12) capable of moving linearly relative to the fixed jaw (8) by actuation means located at a distance and coupled to said tool (4) via a cable (2) connected on one side to the movable jaw (12) and sliding inside a sheath (3) advantageously flexible, one end of which abuts ( 10) on the fixed jaw (8) to allow the cable (2) to slide, characterized in that the actuation means consist of two arms (13,14) which are articulated on the same axis (15) so that they deviate angularly from a value (α) such that the distance between their free end (131,141) free is at least equal to the maximum linear displacement of the movable jaw (12), when 1 'brings 1' towards 1 ' other the two handles (16,17) respectively integral with the two arms (13,14), the free end (131) of the arm (13) serving abutment at 1 * other end of the sheath (3) while freely sliding the cable (2) which passes through it and which is connected to the free end (141) of the other arm (14) and in that '' a ratchet mechanism (21), mounted on one (17) of the handles cooperating with a lug (23) provided on the other (16), holds said sleeves (16,17) against each other and therefore brings the movable jaw (12) closer to the fixed jaw (8), except to release the pawl (22) by action on an unlocking mechanism (21,22,23). 2 - Remote manipulator (1) according to claim 1 characterized in that one (13) of the two arms (13,14) and its handle (16) are aligned parallel to the median axis (YY ') passing through the axis of the articulation (15) and in that the other arm (14) and its handle (17) form between them an angle (α) in the plane of movement, perpendicular to the axis of articulation (15 ), of such a value that when the two handles (16,17) are brought together, the distance between the ends free (131,141) of the two arms (13,14) is at least equal to the maximum linear displacement of the movable jaw (12).
3 - Télémanipulateur ( 1 ) selon la revendication 1 caractérisé en ce que lorsquee les deux manches (16,17) sont rapprochés l'un de l'autre dans le plan du mouvement perpendiculaire à l'axe d'articulation (15), les bras (13,14) qui leur sont respectivement associés s'écartent dans le même plan, symétriquement l'un de l'autre par rapport à l'axe médian (yy'), d'une valeur (α) telle que lorsque les deux manches (16,17) sont l'un contre l'autre, la distance entre les extrémités libres (131,141) des deux bras (13,14) soit au moins égale au déplacement linéaire maximum du mors mobile (12).3 - Remote manipulator (1) according to claim 1 characterized in that when the two sleeves (16,17) are close to each other in the plane of movement perpendicular to the axis of articulation (15), the arms (13,14) which are respectively associated with them deviate in the same plane, symmetrically from one another with respect to the median axis (yy '), by a value (α) such that when the two handles (16,17) are one against the other, the distance between the free ends (131,141) of the two arms (13,14) is at least equal to the maximum linear displacement of the movable jaw (12).
4 - Télémanipulateur ( 1 ) selon la revendication 1 caractérisé en ce que lorsquee les deux manches (16,17) sont rapprochés l'un de l'autre dans le plan du mouvement perpendiculaire à l'axe d'articulation (15), les bras (13,14) qui leur sont respectivement associés sont inclinés dans le même plan, du même côté de l'axe médian (yy' ) passant entre les manches (16,17) et l'articulation (15), le bras intérieur (14) étant plus incliné que le bras extérieur (13) servant préférentiellement de butée à la gaine (3), de telle sorte que lorsque les deux manches (16,17) sont l'un contre l'autre, la distance entre les extrémités libres (131,141) des deux bras (13,14) soit au moins égale au déplacement linéaire maximum du mors mobile (12).4 - Remote manipulator (1) according to claim 1 characterized in that when the two sleeves (16,17) are close to each other in the plane of movement perpendicular to the axis of articulation (15), arms (13,14) which are respectively associated with them are inclined in the same plane, on the same side of the median axis (yy ') passing between the sleeves (16,17) and the joint (15), the inner arm (14) being more inclined than the outer arm (13) preferably serving as a stop for the sheath (3), so that when the two sleeves (16,17) are against each other, the distance between the free ends (131,141) of the two arms (13,14) is at least equal to the maximum linear displacement of the movable jaw (12).
5 - Télémanipulateur (1) selon la revendication précédente caractérisé en ce que la zone d'articulation (143) du bras (14), en position intérieure ne coïncide pas avec la zone de jonction (144) dudit bras (14) avec son manche (17), qui est déportée par un appendice (145) réunissant les deux zones (143,144).5 - Remote manipulator (1) according to the preceding claim characterized in that the articulation zone (143) of the arm (14), in the internal position does not coincide with the junction zone (144) of said arm (14) with its handle (17), which is offset by an appendage (145) joining the two zones (143,144).
6 - Télémanipulateur (1) selon l'une quelconque des revendications 1 à 5 caractérisé en ce que chaque ensemble bras/manche est découpé dans du feuillard laissant sensiblement à plat les supports de manches (18,19) et l'articulation (15) alors que les bras (13,14) sont vrillés sur eux-même d'un angle de 90° pour accueillir en leur extrémité (131,141) les usinages formant la butée de gaine (3) pour l'un (13) et la fixation de câble (2) pour l'autre (14). 7 - Télémanipulateur (1) selon l'une quelconque des revendications 1 à 6 caractérisé en ce qu'un ressort de rappel (20) est disposé entre les deux manches (16,17) à proximité de leur articulation (15) tendant à écarter au repos lesdits manches (16,17) et donc le mors mobile (12) du mors fixe (8) . 6 - Remote manipulator (1) according to any one of claims 1 to 5 characterized in that each arm / handle assembly is cut from a strip leaving substantially flat the sleeve supports (18,19) and the joint (15) while the arms (13,14) are twisted on themselves at an angle of 90 ° to accommodate at their end (131,141) the machining operations forming the sheath stop (3) for one (13) and the cable fixing (2) for the other ( 14). 7 - Remote manipulator (1) according to any one of claims 1 to 6 characterized in that a return spring (20) is disposed between the two sleeves (16,17) near their articulation (15) tending to spread at rest said sleeves (16,17) and therefore the movable jaw (12) of the fixed jaw (8).
EP97952070A 1996-12-19 1997-12-16 System for the remote handling of equipment particularly adapted to elastic rings Expired - Lifetime EP0946337B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9616083 1996-12-19
FR9616083A FR2757439B1 (en) 1996-12-19 1996-12-19 SYSTEM FOR TELEMANIPULATION OF A TOOL PARTICULARLY SUITABLE FOR ELASTIC COLLARS
PCT/FR1997/002311 WO1998026904A1 (en) 1996-12-19 1997-12-16 System for the remote handling of equipment particularly adapted to elastic rings

Publications (2)

Publication Number Publication Date
EP0946337A1 true EP0946337A1 (en) 1999-10-06
EP0946337B1 EP0946337B1 (en) 2001-06-06

Family

ID=9499195

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97952070A Expired - Lifetime EP0946337B1 (en) 1996-12-19 1997-12-16 System for the remote handling of equipment particularly adapted to elastic rings

Country Status (9)

Country Link
US (1) US6189190B1 (en)
EP (1) EP0946337B1 (en)
AT (1) ATE201841T1 (en)
AU (1) AU739609B2 (en)
CA (1) CA2275954C (en)
DE (1) DE69705127T2 (en)
ES (1) ES2148119T3 (en)
FR (1) FR2757439B1 (en)
WO (1) WO1998026904A1 (en)

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WO2013178964A1 (en) 2012-06-01 2013-12-05 Gillet Group Remote manipulator with a universal cable
CN110856915A (en) * 2018-08-24 2020-03-03 昱锋实业股份有限公司 Remote operation tool with replaceable working unit

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US6964089B2 (en) * 2001-04-02 2005-11-15 Ramirez Albert F Sink flange assembly installation method and tool
DE20202705U1 (en) * 2002-02-21 2002-05-08 Klann Tools Ltd., Oxfordshire Device for expanding spring band clamps
DE10259575B4 (en) * 2002-12-19 2007-05-31 Daimlerchrysler Ag Schell assembly tool
FR2854828A1 (en) * 2003-05-12 2004-11-19 Gillet Outil Adjustable locking system for hand tool comprises plate shaped stop having coupling zone with retaining element gripping articulated locking mechanism comprising rack
US7313984B1 (en) 2005-07-27 2008-01-01 Snap-On Incorporated Universal retention cavities for cable-mounted remote hose clamp pliers heads
CA2776761C (en) * 2011-05-12 2019-07-16 Cantega Technologies Inc. Tool and method for handling a part
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DE102011054816B4 (en) * 2011-10-26 2014-02-06 Pi-Liang Wu TOOL FOR MOUNTING AND RELEASING A HOSE CLAMP
DE102014224131B4 (en) 2014-11-26 2022-02-17 Bayerische Motoren Werke Aktiengesellschaft Tool and method for disassembling a mounting clip
TWI611877B (en) * 2017-02-23 2018-01-21 昱鋒實業有限公司 Tool for disassembling pipe joints
TWI633981B (en) * 2017-04-07 2018-09-01 昱鋒實業有限公司 Remote operating tool with replaceable work unit
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Cited By (3)

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Publication number Priority date Publication date Assignee Title
WO2013178964A1 (en) 2012-06-01 2013-12-05 Gillet Group Remote manipulator with a universal cable
CN110856915A (en) * 2018-08-24 2020-03-03 昱锋实业股份有限公司 Remote operation tool with replaceable working unit
CN110856915B (en) * 2018-08-24 2021-06-29 昱锋实业股份有限公司 Remote operation tool with replaceable working unit

Also Published As

Publication number Publication date
US6189190B1 (en) 2001-02-20
ATE201841T1 (en) 2001-06-15
AU5563098A (en) 1998-07-15
CA2275954A1 (en) 1998-06-25
AU739609B2 (en) 2001-10-18
FR2757439B1 (en) 1999-01-15
ES2148119T3 (en) 2001-11-01
ES2148119T1 (en) 2000-10-16
WO1998026904A1 (en) 1998-06-25
FR2757439A1 (en) 1998-06-26
DE69705127T2 (en) 2002-01-31
CA2275954C (en) 2001-07-24
DE69705127D1 (en) 2001-07-12
EP0946337B1 (en) 2001-06-06

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