EP0946337B1 - 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 Download PDF

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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
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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
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EP97952070A
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German (de)
French (fr)
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EP0946337A1 (en
Inventor
Pascal Gillet
Fabrice Petit
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Gillet Outillage
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Gillet Outillage
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Application filed by Gillet Outillage filed Critical Gillet Outillage
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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)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Electric Cable Installation (AREA)
  • Jigs For Machine Tools (AREA)
  • Clamps And Clips (AREA)
  • Gripping On Spindles (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

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 étanches 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 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.

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 écartement 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'entraínement 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.Recall that such necklaces are conventionally made from a shaped strip in a generally circular ring. The ring in question is naturally susceptible to distortion by spacing of its two ends which creates a couple of elastic return used as tightening; he is since long known to make this type of necklace by making overlap the two ends of a spring strip; a median cut of the collar band extends over a few centimeters at one of its ends to form one passage for the other which is reduced in width for coinciding with said passage; the two ends of the band are provided with a training ear obtained by simple rectangular folding of their extremities towards the outside of the collar in such a way that thanks to a forceps fitted with jaws, we can easily bring the two control ears that is to say enlarge the diameter of the collar causing when the couple is released elastic return necessary for tightening.

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.Numerous tools for mounting and disassembly of elastic collars are available of users, and most of these tools, manuals or automatic systems operate on lever systems very simple, such as X-shaped 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 s-r 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.The major drawback of these tools for elastic collars is that when mounting on the hoses of an automobile engine for example it is practically impossible to get for sure precise position of the collar on a sleeve. Indeed, the necklace with a diameter significantly larger than the diameter of the sleeve to be tightened can be found in any what position when you release both ears said collar for tightening; at this moment, the collar adopts a totally random position generally uncontrollable by the editor who often no visibility; it is even common to observe that mounting, this type of collar suddenly released and positioned at an angle, alter the hose mounted on the pipe end piece; in the favorable hypothesis where the editor notices, the correct installation of the poorly positioned collar often requires rework difficult, given the lack of accessibility generally observed; it is compulsory anyway proceed with a minimum loosening of the collar for the put back in good position, which is often 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. On connaít encore par le modèle d'utilité allemand DE-29603425 une pince pour le montage et le démontage de colliers élastiques comprenant une pince de pression reliée à une glissière formant un mors mobile par l'intermédiaire d'un câble flexible. Ce dispositif, s'il permet une intervention aisée à distance sur le montage et le démontage des colliers se caractérise en ce que l'ensemble glissière/coulisseau comporte un dispositif d'arrêt en position ouverte pour le collier, sur lequel l'opérateur doit agir pour le positionnement final du même collier, ou encore pour son retrait en cas de démontage ; ce dispositif présente le grave inconvénient d'obliger l'opérateur à manipuler l'ensemble glissière/collier et système de déblocage par une seule main, l'autre main étant en principe destinée à manipuler ou maintenir la pince de pression ; il apparaít donc extrêmement difficile d'utiliser la même main pour à la fois positionner et débloquer le collier notamment quand il est difficilement accessible.To overcome such difficulties in particular access, we often use clamp systems large deployment which remain very unwieldy. We still know by the German utility model DE-29603425 pliers for mounting and dismounting elastic collars including a pressure clamp connected to a slide forming a movable jaw by through a flexible cable. 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.

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 des moyens d'actionnement, un mors fixe et un mors mobile susceptible de se déplacer linéairement par rapport au mors fixe par les 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 l'extrémité libre de l'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 à l'extrémité libre de l'autre bras.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, such system being characterized in that 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.

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 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.

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'entraínement 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 manipulated tool so that it come fit on the control ears of a elastic collar quite classic and not prestressed. If it is a disassembly, it is very easy to snap the two jaws around the ears of control of the collar to be loosened with a left hand by example, the right hand holding the remote manipulator, position sleeves apart, to facilitate the entry of the jaws on the control ears; for disassembly, it will be enough with a simple pressure of the right hand, bring the two sleeves together, which determines a couple sufficient drive to move the movable jaw closer to fixed jaw with the consequence of increasing the diameter of the collar and therefore to provide the desired loosening. AT conversely, if one wishes to reposition the collar as well loose either in a good position or in another position on the hose, just gently release the two handles of the manipulator until the left hand can easily disengage the movable and fixed jaws from 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,
  • la figure 3 représente schématiquement les trois principales variantes de forme du télémanipulateur conforme à l'invention.
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. on which ones :
  • FIG. 1 shows in solid line a remote manipulator in accordance with the invention seen from the front in the "sleeves close together" position corresponding to a pre-stressed elastic collar in the mounting position and in thin broken lines the same manipulator in the "handles apart" position corresponding in principle in the tightening position of the elastic collars,
  • FIG. 2 is a side view of the manipulator of the previous figure in the maximum opening position for the movable jaw,
  • FIG. 3 schematically represents the three main variant forms of the remote manipulator according to the invention.

En référence aux figures, le télémanipulateur 1 conforme à l'invention est relié par un ensemble comprenant un câble 2 à l'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 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.

Conformément aux figures 1 et 2 l'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 Figures 1 and 2, 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. In the same axis as the bore 10 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.

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 déboítement intempestif.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. Above and below piece 121 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. From the plates 122 and 123 forming the slides, and on the side of the movable jaw 12 opposite the jaw fixed 8, 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.

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 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.

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 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. Of course, 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.

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, 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.

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 90ø 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 remote manipulator 1, with particular reference to the Figure 2, 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 90ø to serve, by the outer arm, as a stop for the sheath 3 and by the inner arm, fixing system for 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 sleeves 18 and 19 to provide a better grip 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 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.In accordance with FIGS. 3, it is possible to make the manipulator 1 according to the invention according to three main configurations:
according to Figure 3 a, 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 α 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.

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 Figure 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 final , it determines an angle α identical to variant a .

Selon enfin une dernière variante représentée en figure 3c, 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 represented in FIG. 3 c , 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 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 α 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.

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 ancillary provisions of the remote manipulator 1, provision is made between two sleeves 16,17 and close to their articulation 15, 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.

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 l'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, there is advantageously provided 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.

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 remote manipulator 1 coupled with its tool 4 is particularly suitable for assembly and disassembly of elastic band collars, is still possible to use the remote manipulator in all cases where it is necessary to operate linearly two jaws between them and this, at a distance, by means of a flexible sheath; in this sense, the particular application to elastic collars is probably an example important but in no way limiting the scope of the invention.

Claims (7)

  1. System for the remote manipulation of a tool (4), comprising means of actuation, a fixed jaw (8) and a moving jaw (12) that can be moved linearly relative to the fixed jaw (8) by the actuation means, which consist of two arms (13, 14) respectively attached to two grips (16, 17) articulated on a common axis (15), situated a distance apart and coupled to the said tool (4) via a cable (2) connected at one end to the moving jaw (12) and sliding inside a sheath (3) which is advantageously flexible and one end of which abuts (10) against the fixed jaw (8) to allow the cable (2) to slide, the free end (131) of the arm (13) serving as the abutment at the other end of the sheath (3) while allowing the cable (2) passing through it and connected to the free end (141) of the other arm (14) to slide freely,
    characterised in that
    the two arms (13, 14) are mutually inclined at an angle of value (α) such that the distance between their free ends (131, 141) is equal to the maximum linear displacement of the moving jaw (12), when one of the two grips (16, 17) is moved close to the other, and in that a pawl mechanism (21) mounted on one of the grips (17) and cooperating with a catch (23) provided on the other grip (16) keeps the said grips (16, 17) one against the other and therefore keeps the moving jaw (12) in a position close to the fixed jaw (8), except when the catch (23) is released from the pawl (21) by acting upon a release mechanism.
  2. Remote manipulation system according to Claim 1,
    characterised in that
    one (13) of the two arms (13, 14) and its grip (16) are aligned parallel to the median axis (YY') passing through the axis of the articulation (15) and the other arm (14) and its grip (17) form between them an angle (α) in the plane of movement perpendicular to the axis of the articulation (15), with a value such that when the two grips (16, 17) are near one another, 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 moving jaw (12).
  3. Remote manipulation system according to Claim 1,
    characterised in that
    when the two grips (16, 17) are close to one another in the plane of movement perpendicular to the axis of the articulation (15), the arms (13, 14) respectively associated with them move apart in the same plane, symmetrically to one another relative to the median axis (YY'), by a value (α) such that when the two grips (16, 17) are against one another, 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 moving jaw (12).
  4. Remote manipulation system according to Claim 1,
    characterised in that
    when the two grips (16, 17) are close to one another in the plane of movement perpendicular to the axis of the articulation (15), the arms (13, 14) respectively associated with them are inclined in the same plane, on the same side of the median axis (YY') passing between the grips (16, 17) and the articulation (15), the inside arm (14) being inclined more than the outside arm (13) which serves preferentially as the abutment for the sheath (3), such that when the two (16, 17) grips are against one another, 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 moving jaw (12).
  5. Remote manipulation system according to the preceding claim,
    characterised in that
    the articulation zone (143) of the arm (14) when it is in the inside position does not coincide with the junction zone (144) of the said arm (14) with its grip (17), which is distanced by an extension (145) that connects the two zones (143, 144).
  6. Remote manipulation system according to any of Claims 1 to 5,
    characterised in that
    each arm/grip assembly is cut out of strip which essentially makes the grip supports (18, 19) and the articulation (15) flat, while the arms (13, 14) are twisted upon themselves through an angle of 90° to accommodate at their ends (131, 141) the machined areas forming the abutment of the sheath (3) in one case (13) and the attachment of the cable (2) in the other case (14).
  7. Remote manipulation system according to any of Claims 1 to 6,
    characterised in that
    a return spring (20) is arranged between the two grips (16, 17) close to their articulation (15), which tends to keep the said grips (16, 17) apart at rest and therefore also separates the moving jaw (12) from 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 EP0946337A1 (en) 1999-10-06
EP0946337B1 true EP0946337B1 (en) 2001-06-06

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

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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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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
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DE102011054816B4 (en) * 2011-10-26 2014-02-06 Pi-Liang Wu TOOL FOR MOUNTING AND RELEASING A HOSE CLAMP
FR2991223B1 (en) * 2012-06-01 2014-06-13 Gillet Group TELEMANIPULATOR WITH UNIVERSAL CABLE
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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Also Published As

Publication number Publication date
ES2148119T3 (en) 2001-11-01
FR2757439A1 (en) 1998-06-26
AU5563098A (en) 1998-07-15
US6189190B1 (en) 2001-02-20
WO1998026904A1 (en) 1998-06-25
FR2757439B1 (en) 1999-01-15
AU739609B2 (en) 2001-10-18
DE69705127D1 (en) 2001-07-12
CA2275954A1 (en) 1998-06-25
ES2148119T1 (en) 2000-10-16
CA2275954C (en) 2001-07-24
DE69705127T2 (en) 2002-01-31
EP0946337A1 (en) 1999-10-06
ATE201841T1 (en) 2001-06-15

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