FR2806540A1 - TELEMANIPULABLE SHEET - Google Patents

Abstract

Remote-handling plug designed to be manipulated by a robotic handling device, the plug mainly comprising a first arm (8) and a second arm (9) such that the first arm is intended to be inserted into a complementary base (40) and such that this plug comprises a position compensation means (18) so that the plug is presented on the base in a mobile and flexible manner. The compensation means comprises a rear part (19) to be gripped by the robotic device, and a link device (20) to tolerate vertical and lateral placement errors, as well as orientation errors of the robotic device and therefore of the first arm relative to the base.

Description

The subject of the present invention is a plug

  remote-controlled It finds its use more particularly in the field of cards handled by robots, in particular in the field of cards used in enclosures inaccessible to a human being. In such enclosures, it is necessary to use robotic devices. An area where nuclear radiation is emitted is in particular inaccessible to humans and therefore requires such a type of plug, for example, a

  waste reprocessing involves such a nuclear environment.

  A remote-controlled plug is provided to be connected to an additional socket. The base is preferably arranged in a wall, this wall being for example a separation between an area subjected to nuclear radiation and an area not subjected to such radiation. The plug is intended to be manipulated by an automatic robotic device for the purpose of connection or disconnection with this base. The advantage of the invention is to propose a remote-controllable base such that the plug includes a means of compensating for a force exerted by the robotic device, holding the plug, during execution

  a command to connect the plug to the socket.

  A robotic device, used in an environment inaccessible to humans to connect a socket with a plug, can execute a command corresponding to a movement of a clamp of this robotic device from one position to another. For example, the pliers can catch the plug and move it so that it faces the base. Then the pliers

  translate the plug to insert it into the base and complete the connection.

  The problem to be solved in such an environment is to be able to correctly connect this plug into the base while avoiding forcing this connection, in particular when the plug is misaligned with respect to the base. In fact, the robotic device used to insert the plug into the socket has no detection means making it possible to trigger a stop operation when too much resistance is exerted during the execution of a connection that was ordered to him. The robotic device will therefore try to connect the plug with the socket cost

what does it cost.

  In the state of the art, document FR-B-2 697 687 is known,

  a remote-controlled base and a base-plate assembly comprising it.

  In this document, the plug is preferably handled by means of an automatic installation. In addition, the plug has a front part to be inserted into the base, and a rear part bent with respect to this front part. The angled rear part contributes to correct placement

of the plug on the base.

  Thus, according to this document, the base comprises a pre-guide fork to improve the alignment of the connection axes of the base and of the plug before connection. This pre-guiding fork makes it possible on the one hand to support the front part of the plug, and on the other hand allows a single placement of the bent rear part relative to this fork. Indeed, the bent rear part must be able to be slid between two rails of this pre-guide fork when the front part is inserted between these two rails. According to this document, the pre-guide fork and the rear part of the plug cooperate to facilitate and improve the connection between the plug and the base. With plug-socket assemblies according to document FR-B-2 697 687, it nevertheless leads to situations in which the connections between plug and socket are either poorly made, or permanently damaged. Such situations are all the more difficult to resolve because the environment is inaccessible to humans, and therefore that repairs

  or replacing damaged parts is difficult.

  The solutions of the state of the art pose a problem. Indeed, the manipulable base of the state of the art comprises a pre-guiding fork, such that this pre-guiding fork only offers

  receive respectively the front part and the rear bent part of the plug.

  However, such a pre-guiding fork does not guarantee correct placement of the plug relative to the base, when the bent rear part is correctly inserted between the two rails of the pre-guiding fork, while the front part of the plug is arranged askew with respect to these rails. This situation is all the more serious since it is the front part of the plug which is intended to be connected with the complementary connector placed in the base. Indeed, in the prior art to allow correct alignment of a connection axis of the base and a connection axis of the front part of the plug, the pre-guide rails only provide for a chamfer having a profile complementary to that of the plug, which from the point of view of precision and tolerances is insufficient. In fact, when a connection operation is ordered, then the robotic device executes a succession of placement commands, the success of which is solely linked to the validation of these placements. However, a robotic device may be slightly biased or execute these placement commands with some uncertainty. We can then find ourselves in these unfavorable cases where the front part of the plug is presented incorrectly vis-à-vis the base. Furthermore, a robotic device offers no flexibility when moving and placing a clamp constituting it. In fact, the validation of the execution of a placement command is only possible if the clamp has been placed in a fixed and rigid manner in an expected position. These robotic devices are therefore expensive. The object of the invention is to solve this problem by proposing a remote-controlled plug such as this plug, in addition to having a front part to be connected with a base, and a generally wired rear part, also comprises a mobile and flexible device. This mobile and flexible device is external and preferably mounted along a main axis of orientation of the front part. It is intended to be caught by a gripper of a robotic device. Placement operations applied to this mobile and flexible device are also transmitted to the front part and to the rear part of the plug. These successive placement operations executed via the robotic device are then imposed in a damped manner, and with a certain tolerance of deviation, on the front part and on the rear part of the plug thanks to this device.

mobile and flexible.

  Thus, the plug can be connected to a socket by applying a damped and possibly redirected connection force. Indeed, thanks to this mobile and flexible device, the front part and the rear part of the plug are not rigidly presented relative to the base. Thus a means of alignment of the base can play effectively to guarantee a correct connection between this plug and the base. We then get

  correct connections more easily and efficiently.

  Therefore, the device according to the invention makes it possible to considerably reduce the deterioration of the parts to be connected together. Thus the cost of replacing damaged parts during use is reduced. Similarly, the invention makes it possible to reduce the number of repair operations, which are difficult to perform in an environment inaccessible to humans. On the other hand, given the flexibility conferred by the elastic and flexible device, it is not necessary on the part of robotic devices absolute precision. Indeed, these robotic devices which have the main function of moving elements from one place to another, can then have less precision. A manufacturing cost of such a robotic device is therefore reduced, since constraints on the manufacturing precision of such a device are limited. Thus, the remote handling plug of the invention contributes to a reduction in the overall costs of robotic infrastructures used in environments inaccessible to humans, such as

than nuclear environments.

  The invention relates to a remote-controlled plug comprising two arms, a first arm of the plug which can be inserted into a socket, a second arm of the plug being wired, characterized in that it comprises a means of position compensation, the means of position compensation comprising a front part, a rear part and a connecting device for connecting the front part and the rear part, the front part being

mounted on one arm of the plug.

  The invention will be better understood on reading the description which follows

  and examining the accompanying figures. These are presented for information only and in no way limit the invention. The figures show: - Figure 1: a side view with partial section of a plug according to the invention; - Figure 2a: a view of a portion of a longitudinal section AA of Figure 1, arranged in a first position, Figure 2b: a view of a portion of a longitudinal section AA of Figure 1, arranged in a second position;

  - Figure 3: a side view with partial section of a plug assembly -

  base according to the invention; - Figure 4: a side view with partial section of a second mode

  for producing a file according to the invention.

  Figure 1 shows a sheet 1 according to the invention. File 1 can be manipulated. In fact, sheet 1 includes gripping zones to be grasped by a robotic member, for example a telemanipulation clamp (not shown). The plug 1 comprises a body 2 and a contact 3, the contact 3 being disposed in a housing 4 of the body 2. The contact 3 is presented at a first opening 5 of the body 2. Furthermore, the body 2 comprises a second opening 6, so that a cable 7 is inserted inside the housing 4 of the body 2 from the second opening 6. In addition, the cable 7 is connected to the contact 3 inside the

housing 4.

  Schematically, the plug 1 comprises a first arm 8 presenting the contact 3, and a second arm 9 in which the cable is mounted 7. The first arm 8 comprises a presentation axis 10, which corresponds to an axis of preferential orientation of the contact 3 for correct connection with a complementary connector located within a complementary base

from sheet 2.

  The second arm 9 also has a main direction along an axis 11. In a preferred example presented in FIG. 1, the presentation axis 10 and the axis 11 are perpendicular. Indeed in this example, the first arm 8 and the second arm 9 form an elbow 12. For this purpose, the body 2 comprises an elbow connection 13 to reinforce the solidity of this elbow 12. The elbow connection 13 can for example be arranged at an angle

external obtuse of the body 2.

  In the example shown in Figure 1, the cable 7 preferably comprises four strands such as 14 separate, each connected

  individually with for example a socket such as 15 of contact 3.

  Furthermore, the arms 8 and 9 each have gripping zones such as 16 so that they can be grasped by a telemanipulation clamp. In a preferred example, these gripping zones 16 are flat, that is to say flat surfaces presented on an external surface 17 of the body 2. The body 2 is moreover generally formed of a series of juxtaposed cylindrical sections, of variable diameters but substantially identical. In a preferred example, gripping zones are arranged diametrically opposite on some of the

  cylindrical sections of the external surface 17.

  The plug 1 also comprises a position compensation means 18. The position compensation means 18 comprises a rear part 19, a connecting device 20, and a front part 21. The rear part

  19 is connected via the connection device 20 to the front part 21.

  This front part 21 is also mounted on the body 2. For example, the front part 21 is retained by a means of fixing to the body 2. This fixing means is for example a screw 22 screwed in the body 2. In I ' example presented in FIG. 1, the front part 21 is affixed against a surface 23 of the elbow connector 13. The front part 21 is in this example preferably presented parallel to a plane formed by the first

opening 5.

  Figure 2a, the position compensation means 18 comprises a first pivoting ball 24 mounted in a first housing 25 of the front part 21, and a second pivoting ball 26 disposed in a second housing 27 of the rear part 19. The first pivoting ball 24 comprises a first pinion 28 erected radially. In correspondence, the first housing 25 has an opening 29 to allow the

  first pinion 28 of an internal surface 30 of the front part 21.

  Likewise, the second pivoting ball 26 is provided with a second pinion 31. The second housing 27 is also provided with an opening 32 to allow the second pinion 31 to protrude from an internal surface 33 of the rear part 19. The first pinion 28 and the second pinion 31 are connected

  to form a single rigid axis 34 by means of a sleeve 35.

  The sleeve 35 comprises for example two opposite screw threads and can be screwed simultaneously on each of the two pinions 28 and 31 by bringing them together. Thus, the connecting device 20 comprises two centers of rotation disposed respectively in the center of each of the pivoting balls 24 and 26. The possibilities of rotation of these pivoting balls 24 and 26 are limited. Indeed, in a preferred example the pinions 28 and 31 are cylindrical and the openings 29 and 32 circular. Then the possibilities of rotation are limited respectively by a relative ratio between

  diameters of openings 29 and 32 and diameters of pinions 28 and 31.

  Since the front part 21 is mounted on the body 2, the presentation axis 10 passes through the center of rotation of the first pivoting ball 24. In the example presented in FIG. 2a, the presentation axis 10 is superimposed on the rigid axis 34. On the other hand in FIG. 2b, the rigid axis 34 of the connecting device 20 intersects with the presentation axis 10. It is also possible to define a placement axis 36 of the rear part 19. In the 'example shown in Figure 2b, the placement axis 36 is superimposed on the rigid axis 34. So the planes formed by the surfaces 30 and 33 are intersecting. In this case, an angle formed between the rigid axis 34 and the presentation axis 10 is only due to a rotation around the center of rotation

of the first swivel ball 24.

  In another variant, provision can be made for the two pivoting balls 24 and 26 to play. In this case, it is possible, for example, to have the surfaces 30 and 33 parallel to one another while the rigid axis 34 forms an angle relative to the presentation axis 10. In this case, this rigid axis 34

  also forms an angle with the placement axis 36.

  Thus, the position compensation means 18 according to the invention makes it possible, by catching the plug 1 at the rear part 19, to present the first arm 8 with a certain tolerance and above all, after placing the rear part 19 in vis- with respect to the base, a certain mobility of the arm 8 relative to this base. Thus, a telemanipulation clamp holding the rear part 19 can be oriented (axis 36) at an angle to an expected position (axis 10) of contact 3, without

  however the connection is defective.

  In the case where the rear part 19 is presented in a correct orientation vis-à-vis a complementary base, then thanks to the position compensation means 18, the arm 8 can still be correctly

  placed and thus recover lateral or vertical positioning deviations.

  The connecting device 20 therefore has very great flexibility. Indeed, this flexibility is only limited by the relative movement of the pinions 28 and 31 at their respective housing 29 and 32. Furthermore, to limit this great flexibility offered by the play of the two pivoting balls 24 and 26 connected by the axis rigid 34, the connecting device 20 also includes a spring 37. In a preferred example, the spring 37 is disposed between the faces 30 and 33 respectively of the front part 21 and the rear part 19. The spring 37 confers flexibility on the device of connection 20. It proposes a preferential arrangement, but which can be flexed, of the

  position compensation means 18 along the presentation axis 10.

  According to a first embodiment shown in Figure 4, the connecting device 20 comprises a single spring 37. According to this embodiment, the single spring 37 is central, so that the rigid axis 34 is preferably arranged along a defined axis by this spring when it is in the rest position. The spring 37 is stretched, or compressed between the faces

30 and 33.

  In a variant, shown in Figure 1, the connecting device 20 comprises several springs such as 37 arranged geometrically around the rigid axis 34. In one example, it comprises three springs such as 37. These three springs are then arranged according to an arrangement of an equilateral triangle such that the center of this equilateral triangle is crossed by the rigid axis 34. Thus, one can strongly limit the flexibility of the rigid axis 34 relative to the presentation axis 10. Similarly , the flexibility of the rigid axis 34 relative to the placement axis 36 is also limited. Indeed, the springs such as 37 are stretched between the surfaces 30 and 33. Therefore, the sum of the tensions exerted by these springs results , in the absence of external constraints, to arrange the presentation axis 10, the rigid axis 34 and the placement axis 36 in a collinear manner, as shown in FIG. 2a. This same result is obtained if each of the springs 37 is kept in compression between the surfaces 30 and 33, and a distance between these two surfaces is

  held by the rigid pin 34.

  In a particular embodiment, the first opening 5 has a diameter of the order of 6 centimeters, the first arm 8 has a length of the order of 11 centimeters, and the second arm 9 has a length of the order of centimeters. In such proportions, the position compensation means 18 makes it possible to tolerate an orientation error on the part of a telemanipulation clamp less than or equal to 15 and an error in lateral and / or vertical placement less than or equal to 8 mm . Indeed, for presentation errors of less than 15 and for vertical and / or lateral placement errors of less than 8 mm, the position compensation means 18 authorizes placement of the presentation axis 10 of the ideal arm 8 vis- against a

  additional base of this arm 8.

  For the purpose of being easily caught by a gripping means

  robotized, the rear part 19 has specific gripping zones.

  For example, a specific grip area 38 can be a flat presented on a distal part of the rear part 19. In an example

  preferred this gripping area 38 is constituted by two flat faces

  opposite so that they can easily be caught by a gripper. In Figure 3, there is shown a plug 1 arranged so that its presentation axis 10 is aligned with a connection axis 39 of a complementary base 40. The complementary base 40 is

  preferably mounted in a partition 41.

  The connection axis is therefore fixed. The base 40 comprises a contact 42 complementary to the contact 3. In a preferred example, the contact 2 comprises protruding pins 43. For example, the contact 42 comprises four pins such as 43 arranged in a particular geometry intended to be able to be connected with four sockets

arranged in contact 3.

  However, as we have seen previously, a card 1 according to the invention tolerates that the gripping means catching the card 1 at the level of the gripping zones 38 has an uncertainty of the order of 15 relative to the angle of presentation. of its placement axis 36, and a lateral or vertical offset of this placement axis 36 of the order of 8 mm. In fact, the base includes a pre-guide fork 44, such that this pre-guide fork 44 makes it possible to receive the first arm 8 before allowing the connection between the contact 3 and the complementary contact 42. Thus, a telemanipulation clamp has approximately the rear part of the position compensation means 18 at a desired position. Then, due to the flexibility and the elasticity of the compensation means 18, the arm 8 and the arm 9 are placed correctly on the pre-guide fork 44. In a preferred example, the pre-guide fork 44 is designed according to the model

  described in document FR-B-2 697 687.

  Furthermore, in a variant, it is possible to provide the compensation means 18 surrounded by a bellows 45. The bellows 45 then mainly surrounds the connection device 20. In fact, the connection device 20 comprising at least one spring such as 37 , must be protected from the outside. Furthermore, in another variant, provision can be made for the plug 1 to be provided with a harness 46, the harness 46 consisting of an elastic cable stretched between a point 47 of the body 2 of the plug 1 and for example a point 48 of the distal part of the rear part 19. In this example, so that the harness has a compensating support function for the excess weight generated by the position compensation means 18, the fixing point 47 is preferably higher than the point of attachment 48. The cable 46 is preferably stretched between points 47 and 48. Thus the excess weight generated by the position compensation means 18 is distributed more

  balanced and is not just applied at the elbow 12.

Claims (8)

  1 - Manipulable plug (1) comprising two arms, a first arm (8) of the plug which can be inserted in a base (40), a second arm (9) of the plug being wired (7), characterized in that it comprises a position compensation means (18), the position compensation means comprising a front part (21), a rear part (19) and a connection device (20) for connecting the front part and the rear part, the front part being mounted on one arm of the plug.   2 - Sheet according to claim I characterized in that the connecting device is flexible and comprises a first pivoting ball (24) mounted in a housing (25) of the front part, and a second pivoting ball (26) mounted in a housing (27) from the rear, the two balls   pivoting being connected by a rigid axis (34).   3 - Sheet according to claim 2 characterized in that the rigid axis comprises a first pinion (28) standing on the first ball, a second pinion (31) standing on the second ball, and a sleeve (35) for connecting and align these two gables.   4 - Sheet according to one of claims 2 to 3 characterized in that   the first arm of the plug has a presentation axis (10) and in that this presentation axis and the rigid axis of the connecting device can be intersecting.   - Sheet according to one of claims 1 to 4 characterized in that   the connection device is elastic and comprises a spring (37) retained at a first end against the front part, and at a second end against the rear part.   6 - Sheet according to one of claims I to 4 characterized in that   the connection device comprises three springs retained between the front part and the back part.   7 - Sheet according to one of claims I to 6 characterized in that   the rear part has gripping zones (38), a zone of gripping being a flat.   8 - Sheet according to one of claims 1 to 7 characterized in that   the plug comprises an external harness (46) retaining the rear part on the second arm.   9 - Sheet according to one of claims I to 8 characterized in that   The base is mounted in a partition (41) and has a connection pin (39) fixed.   - Sheet according to one of claims 1 to 9 characterized in that   the plug has a bend (12) between the two arms, and in that the base includes a pre-guide fork (44) to ensure correct placement   of the first arm and the second arm on the base.