EP0946337B1 - Systeme de telemanipulation d'un outillage particulierement adapte aux colliers elastiques - Google Patents
Systeme de telemanipulation d'un outillage particulierement adapte aux colliers elastiques Download PDFInfo
- Publication number
- EP0946337B1 EP0946337B1 EP97952070A EP97952070A EP0946337B1 EP 0946337 B1 EP0946337 B1 EP 0946337B1 EP 97952070 A EP97952070 A EP 97952070A EP 97952070 A EP97952070 A EP 97952070A EP 0946337 B1 EP0946337 B1 EP 0946337B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- grips
- arms
- arm
- jaw
- articulation
- 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.)
- Expired - Lifetime
Links
Images
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 system for remote handling of tools such as those, including a fixed jaw and a movable jaw capable of moving linearly relative to the fixed jaw by means remote control, particularly useful mounting and dismounting elastic band collars widely used in the automotive field, for example for fixing the hoses on pipes cooling undergoing wide variations in their outer diameter, due to large expansions; we then knows 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 cable ties subsequently called elastic collars.
- This device if allows easy remote intervention on the assembly and the disassembly of the collars is characterized in that the slide / slide assembly includes a device stop in the open position for the collar, on which the operator must act for the final positioning of the same collar, or for its removal in the event of disassembly; this device has the serious disadvantage of obliging the operator to handle the slide / collar assembly and release system with one hand, the other hand being in principle intended to manipulate or maintain the pressure clamp; it therefore appears extremely difficult to use the same hand to both position and unlock the collar especially when it is difficult accessible.
- the object of the present invention is to overcome these different disadvantages; in this regard it is proposed a remote handling system for a tool comprising actuation means, a fixed jaw and a movable jaw capable of moving linearly relative to the fixed jaw by means actuators located remotely and coupled to said audit tooling via cable connected on one side with movable and sliding jaw inside a sheath advantageously flexible, one end of which abuts on the fixed jaw to let the cable slide,
- the means of actuation consist of two arms which are articulated on the same axis so that they move apart angularly by a value such as the distance between their free end is at least equal to the displacement maximum of the movable jaw, when one approaches one towards the other two sleeves respectively secured to the two arm of which the free end of one serves as a stop for the other end of the sheath while allowing it to slide freely the cable which crosses it and which is connected to the free end of the other arm.
- This manipulation system with each arm and the sleeve associated with it remain, in the plane of their respective movements, on the same side of a midline of the shot passing between the two arms, the two sleeves and their articulation center, is particularly advantageous for application to the mounting and dismounting of collars elastic even at very difficult points accessible, which is generally the case in engines of current vehicles.
- the remote manipulator 1 is connected by a set comprising a cable 2 inside a sheath 3, at a tool 4 allowing to act on the ears of control 5 of an elastic collar 6 for mounting or disassembly for example on a pipe hose.
- tool 4 for the tightening and loosening of the collar 6 is essentially constituted by a yoke 7 advantageously obtained from a flat iron folded in a U whose two wings are joined at their end around a part 8 constituting the jaw fixed.
- the fixed jaw is provided in its rear part 9 with a bore 10 inside which the sheath abuts flexible 3.
- a hole 11 allows the passage of cable 2 which can extend up to movable jaw 12 arranged astride the interior of the clevis 7 whose vertical sections serve as a rail guide for its linear displacement; cable 2 is plugged into a well made in the movable jaw 12 and counter-clamped by means of a screw to block it.
- the movable jaw 12 is formed by an internal block 121 of same size as the width of the yoke 7 to form a lateral guide to the jaw 12.
- two plates 122 and 123 are attached coming to rest on the edges of the yoke 7 so to form a slide with the two blanks 71,72 of the yoke 7.
- inclined sides 124 are provided inwards of block 121 making it possible to constitute a half-tail housing dovetail to accommodate the first ear of command 5 of the collar 6 without risking when tightening his untimely dislocation.
- the fixed jaw 8 consists of the same as the movable jaw 12 by a central block fixed on both sides to the two side wings 71,72 of clevis 7 and held above and below in pairs counterplates shaped like jaw 12 to receive the second control ear 5 of the collar 6.
- the remote manipulator 1 is essentially made up by two arms 13,14 likely to deviate from one of the other by rotation around an axis 15 in order to determine between their two ends 131,141 a displacement equivalent to that of the free jaw 12 on the yoke 7 in 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 a pin or screw 142.
- cable 2 transmits its movement to tool 4 by means of sheath 3 coming to do this in abutment on the end 131 of the arm outside 13 of the remote manipulator 1.
- each arm 13 or 14 is associated with a handle, respectively 16 or 17, depending on a provision particular matching each arm to the handle located on the same side of a line XX 'coinciding with the midline of sleeves 16,17 and arms 13,14 passing by their center or their axis of articulation 15; according to figure 1, it follows that when brings the two sleeves 16 and 17 together by rotation around axis 15 we spread arms 13 and 14, and conversely, when we separate the sleeves from each other, we tend to bring the two arms 13 and 14 together.
- the remote manipulator 1 is cut from strip of thickness 5 mm for example, determining on either side of a plate, centered on axis 15 and used to rotate the tool on one side of the supports sleeves 18,19 and the other, respectively arms 13 and 14 that we have previously twisted in on themselves 90 ⁇ to serve, by the outer arm, as a stop for the sheath 3 and by the inner arm, fixing system for actuation cable 2.
- two ergonomic handles are fixed astride the two ends of the sleeves 18 and 19 to provide a better grip the tool.
- the manipulator 1 in rest position, that is to say, the two sleeves 16,17 moved towards each other, is such that 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 not necessarily being intersecting and that the second arm 14 forms with the handle 17 with which it is associated, a angle ⁇ in the plane of movement perpendicular to the axis of articulation 15 of a value such that 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 on the yoke 7 until contact with the fixed jaw 8 of the tool 4.
- each arm 13,14 is symmetrically inclined relative to the median axis YY 'of the tool so that in final , 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 not with the junction zone 144 of the same arm 14 with its sleeve 17, but it is offset thanks to an appendage 145 joining the two zones 143,144; we easily understand than the length of appendix 145 joining the axis of articulation 15 to the assembly constituted by the arm 14 and the handle 17, depends on the position of the arms 13,14 in particular when the two innings are in the most discarded, with the consequence of better adapting the torque of traction exerted by the arm 14 on the cable 2 and decrease the angle of the cable 2 relative to the arm 13 when the arm 14 describes the angle ⁇ improving the operation of the manipulator 1; the skilled person knows perfectly adapt the geometry of all these elements, i.e. the length of the arms 13,14 as well as the length of appendix 145 naturally depending on the length of the sleeves 16,17 constituting the arms of remote control lever 1.
- a return spring 20 tending to spread at rest the same sleeves, that is to push the movable jaw to 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 mounted for example on the support sleeve 19, so that its hook end 22 cooperate with a lug 23 provided on the other sleeve support 18 to hold one against each other the two innings when these 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 of lug 23 at any time, thereby freeing the two sleeves and by that, any traction on the ears of control 5 releasing the elastic collar 6.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
- Flexible Shafts (AREA)
- Gripping On Spindles (AREA)
- Jigs For Machine Tools (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Electric Cable Installation (AREA)
- Clamps And Clips (AREA)
Description
- 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,
- la figure 3 représente schématiquement les trois principales variantes de forme du télémanipulateur conforme à l'invention.
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 l'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.
Claims (7)
- Système de télémanipulation d'un outillage (4) comprenant des moyens d'actionnement, un mors fixe (8) et un mors mobile (12) susceptible de se déplacer linéairement par rapport au mors fixe (8) par les moyens d'actionnement, consistant en deux bras (13,14) respectivement solidaire de deux manches (16,17) qui sont articulés sur un même axe (15), 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), l'extrémité libre (131) du bras (13) servant 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) caractérisé en ce que les deux bras (13,14) s'écartent angulairement d'une valeur (α) telle que la distance entre leur extrémité libre (131,141) est égale au déplacement linéaire maximum du mors mobile (12), lorsque l'on rapproche l'un de l'autre les deux manches (16,17), 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 maintient le mors mobile (12) dans une position proche du mors fixe (8), sauf à libérer l'ergot (23) du cliquet (21) par action sur un mécanisme de déverrouillage.
- Système de télémanipulation 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).
- Système de télémanipulation selon la revendication 1 caractérisé en ce que lorsque 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).
- Système de télémanipulation selon la revendication 1 caractérisé en ce que lorsque 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).
- Système de télémanipulation 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).
- Système de télémanipulation 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-mêmes d'un angle de 90ø 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).
- Système de télémanipulation 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).
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9616083A FR2757439B1 (fr) | 1996-12-19 | 1996-12-19 | Systeme de telemanipulation d'un outillage particulierement adapte aux colliers elastiques |
FR9616083 | 1996-12-19 | ||
PCT/FR1997/002311 WO1998026904A1 (fr) | 1996-12-19 | 1997-12-16 | Systeme de telemanipulation d'un outillage particulierement adapte aux colliers elastiques |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0946337A1 EP0946337A1 (fr) | 1999-10-06 |
EP0946337B1 true EP0946337B1 (fr) | 2001-06-06 |
Family
ID=9499195
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP97952070A Expired - Lifetime EP0946337B1 (fr) | 1996-12-19 | 1997-12-16 | Systeme de telemanipulation d'un outillage particulierement adapte aux colliers elastiques |
Country Status (9)
Country | Link |
---|---|
US (1) | US6189190B1 (fr) |
EP (1) | EP0946337B1 (fr) |
AT (1) | ATE201841T1 (fr) |
AU (1) | AU739609B2 (fr) |
CA (1) | CA2275954C (fr) |
DE (1) | DE69705127T2 (fr) |
ES (1) | ES2148119T3 (fr) |
FR (1) | FR2757439B1 (fr) |
WO (1) | WO1998026904A1 (fr) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10026847A1 (de) * | 2000-05-31 | 2002-01-10 | Engelbert Gmeilbauer | Werkzeug zum Spannen bzw. Lösen/Öffnen von Feder-Klemmelementen |
US6453531B1 (en) * | 2000-09-08 | 2002-09-24 | Daimlerchrysler Corporation | Automotive window assembly tool |
US6964089B2 (en) * | 2001-04-02 | 2005-11-15 | Ramirez Albert F | Sink flange assembly installation method and tool |
DE20202705U1 (de) * | 2002-02-21 | 2002-05-08 | Klann Tools Ltd | Vorrichtung zum Aufweiten von Federbandschellen |
DE10259575B4 (de) * | 2002-12-19 | 2007-05-31 | Daimlerchrysler Ag | Schellenmontagezange |
FR2854828A1 (fr) * | 2003-05-12 | 2004-11-19 | Gillet Outil | Systeme de verrouillage ajustable pour outillage a main comportant deux branches articulees entre elles |
US7313984B1 (en) | 2005-07-27 | 2008-01-01 | Snap-On Incorporated | Universal retention cavities for cable-mounted remote hose clamp pliers heads |
CA2776761C (fr) * | 2011-05-12 | 2019-07-16 | Cantega Technologies Inc. | Outil et methode de manutention d'une piece |
CA2753232C (fr) | 2011-09-20 | 2018-05-01 | Canada Post Corporation | Dispositif d'extension |
DE102011054816B4 (de) * | 2011-10-26 | 2014-02-06 | Pi-Liang Wu | Werkzeug zum befestigen und lösen einer schlauchschelle |
FR2991223B1 (fr) * | 2012-06-01 | 2014-06-13 | Gillet Group | Telemanipulateur a cable universel |
DE102014224131B4 (de) | 2014-11-26 | 2022-02-17 | Bayerische Motoren Werke Aktiengesellschaft | Werkzeug und Verfahren zur Demontage eines Befestigungsclips |
TWI611877B (zh) * | 2017-02-23 | 2018-01-21 | 昱鋒實業有限公司 | 拆解管接頭的工具 |
TWI633981B (zh) * | 2017-04-07 | 2018-09-01 | 昱鋒實業有限公司 | 可更換工作單元的遠端操作工具 |
CN107052756B (zh) * | 2017-06-02 | 2023-03-21 | 湖南锐科机器人技术有限公司 | 一种工具钳胶套组装机的弹性上料装置 |
TWI665060B (zh) * | 2018-07-24 | 2019-07-11 | 昱鋒實業股份有限公司 | 可更換工作單元的遠端操作工具 |
CN110856915B (zh) * | 2018-08-24 | 2021-06-29 | 昱锋实业股份有限公司 | 可更换工作单元的远端操作工具 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1519938A (en) * | 1923-09-13 | 1924-12-16 | Donald V Smith | Flexible pliers |
US2532141A (en) * | 1947-07-09 | 1950-11-28 | Eaton Mfg Co | Split ring expander |
US3091143A (en) * | 1960-10-27 | 1963-05-28 | Ace Tool Engineering Co Inc | Clamp manipulating device |
CH605052A5 (fr) * | 1976-12-02 | 1978-09-29 | Born Ag Peter | |
US4653309A (en) * | 1986-01-07 | 1987-03-31 | The Boeing Company | Hand tool for installing plastic fasteners |
US5096170A (en) * | 1990-08-23 | 1992-03-17 | Albin Stephen D | Clamp for picture frame tool and other purposes |
DE4312846C1 (de) * | 1993-04-21 | 1994-04-21 | Muhr & Bender | Handhabungswerkzeug |
DE29515050U1 (de) * | 1995-09-20 | 1995-11-23 | Hazet-Werk Hermann Zerver Gmbh & Co Kg, 42857 Remscheid | Schellenzange |
DE29603425U1 (de) * | 1996-02-24 | 1996-04-25 | Paschke, Werner, 30974 Wennigsen | Schlauchschellenzange |
-
1996
- 1996-12-19 FR FR9616083A patent/FR2757439B1/fr not_active Expired - Fee Related
-
1997
- 1997-12-16 EP EP97952070A patent/EP0946337B1/fr not_active Expired - Lifetime
- 1997-12-16 WO PCT/FR1997/002311 patent/WO1998026904A1/fr active IP Right Grant
- 1997-12-16 US US09/331,422 patent/US6189190B1/en not_active Expired - Lifetime
- 1997-12-16 AU AU55630/98A patent/AU739609B2/en not_active Ceased
- 1997-12-16 ES ES97952070T patent/ES2148119T3/es not_active Expired - Lifetime
- 1997-12-16 AT AT97952070T patent/ATE201841T1/de not_active IP Right Cessation
- 1997-12-16 DE DE69705127T patent/DE69705127T2/de not_active Expired - Lifetime
- 1997-12-16 CA CA002275954A patent/CA2275954C/fr not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
CA2275954C (fr) | 2001-07-24 |
CA2275954A1 (fr) | 1998-06-25 |
ATE201841T1 (de) | 2001-06-15 |
ES2148119T1 (es) | 2000-10-16 |
AU739609B2 (en) | 2001-10-18 |
US6189190B1 (en) | 2001-02-20 |
ES2148119T3 (es) | 2001-11-01 |
WO1998026904A1 (fr) | 1998-06-25 |
EP0946337A1 (fr) | 1999-10-06 |
DE69705127D1 (de) | 2001-07-12 |
FR2757439B1 (fr) | 1999-01-15 |
AU5563098A (en) | 1998-07-15 |
FR2757439A1 (fr) | 1998-06-26 |
DE69705127T2 (de) | 2002-01-31 |
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