• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A camera (6) for observing the interior of an armored cell comprises a support (7) provided with a spring (13) in the form of a clamp for mounting it on a remote handling arm accomplishing the task to be observed, by means of another arm, exerting only a force to open the branches of the spring, after which the camera (6) is well maintained, while being able to be removed without difficulty. In other embodiments, it is used, instead of a spring, other reversible interlocking means and brake means distributed on the support and on the arm, in order to achieve further connections, easily removable by simple movements.
    公开号:FR3018894A1
    申请号:FR1452290
    申请日:2014-03-19
    公开日:2015-09-25
    发明作者:Francois Gobin；Mickael Gennisson；Christophe Brenneis
    申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
    IPC主号:
    专利说明:

    [0001] The subject of this invention is a portable camera device for attachment to a telemanipulator gripper. In remote handling activities, the operators observe the scene on which they work through portholes passing through the protective wall next to the crossings of this same wall by the remote manipulators they operate. Some eccentric places of cells, or places hidden by an object located inside, are however inaccessible to this direct vision. The cells were thus equipped with vision aids, such as periscopes or cameras. Periscopes often have the drawbacks of being cumbersome and of offering only an additional vision limited to a part of the contents of the cell, since their location is fixed; This is why cameras are very good complementary tools, since they are inexpensive, portable and light equipment, and therefore likely to be moved to any place, and they can also be oriented in all directions. the directions inside the cells, allowing a near total visual coverage of the volume of the shielded enclosure inside which they are located. Several techniques exploiting such cameras have been proposed.
    [0002] In one of them, the camera remains at the end of a mobile support comprising a foot placed on a surface of the cell, and a flexible rod rising in the middle of the foot and on which the camera is fixed. The foot is placed near the desired scene, and the camera is set to the correct orientation by deforming the rod. This device is convenient, but has the disadvantage that the focus of the camera must be redone before each operation, the support being at different distances from the scene to be observed. The cameras can also be worn by the remote manipulators themselves. Two telemanipulation arms are used, the clamp of one holding the camera, while the clamp of the other performs the observed work. This design therefore has the disadvantage of occupying a second telemanipulation arm. Finally, some designs use a camera permanently mounted on a remote handling arm, or an autonomous robot arm, to avoid the inconvenience of the previous design. But the arm of the camera must then be removed from the cell when the camera must be replaced, which requires precautions and tedious work to be accomplished in accordance with the security rules. The invention relates to a portable camera device to avoid the above drawbacks, in particular the need to re-focus at each operation or the occupation of a second manipulator arm, and which can be removed freely from the clip and then easily reassembled on it when needed.
    [0003] According to the invention, the portable camera device, for use in mounting on a remote manipulator arm, comprises a camera and a camera support; it is original in that the support and the arm comprise complementary connection means, consisting of interlocking means and brake means. The interlocking means thus make it possible to assemble the device to the arm by a simple movement, therefore without any difficulty, and the brake means make it possible to block the device at an assembly position, while at the same time allowing it to be removed without difficulty. and without significant effort by a reverse movement of the assembly movement. One embodiment comprises a portable camera mounted on a telemanipulator arm, comprising a camera and a camera support, characterized in that the support comprises, on a face opposite the camera, a fixation on the wrist (which generally forms a waterproof connection) of the clamp. On remote manipulators already in production, which are therefore equipped with a wrist (tight fitting) of perfectly cylindrical and smooth shape, the invention has a fastener consisting of a spring-shaped clamp. This fastening system is based on the principle of a braked interlock, that is to say that requires the intervention of the operator to deposit. The camera can thus be fixed to the manipulator arm, and in particular to a sealed connection, generally connecting the wrist to the clamp and of regular circular shape, by a simple stapling operation, by pushing the spring against the arm, until to force its opening. When the spring is installed around the arm, it closes on it returning to its original shape, and the camera is held firmly. The device can be removed in the same way by exerting an opposite effort. A second telemanipulator arm can be used for this; this arm remains available afterwards. And since the camera is usually always in the same position on the arm, at the same distance from the clamp, it is useless to redo its focus at each use, since the scene observed is usually the work of the clamp. In a particular embodiment, the support comprises a fixed part to which are fixed the spring and a movable part, connected to the fixed part by a hinge and a brake, to which is fixed the camera. The orientation of the camera relative to the arm can then be changed at will. In order to transmit their images, the cameras are normally equipped with a transmission wire. In the invention, the camera may be provided with a moderate length of wire, terminated by a connection, and the connection will be made by approaching a wire of greater length, permanently in the cell and provided with a complementary connection, or by a connection to a wire located in the manipulator arm itself, the complementary connector then being mounted on the arm casing. Mounting is facilitated if the face opposite the camera comprises a flat portion located in front of the spring in a direction of view of the camera.
    [0004] The support may comprise an adapter ring to a rod-shaped support foot, which allows the camera to be stored when it is not mounted on the arm, to make it a fixed point of view. When the system is used in an enclosure where it is subjected to strong irradiation, it can also be stored in a metal box that protects it from radiation when not in use.
    [0005] In other embodiments, the complementary connection means comprise grooves with complementary sections, distributed on the device and the arm and sliding one inside the other. We see that the assembly movement is still a translation movement. The brake means may comprise, in this type of embodiment, a ball pusher and a notch for receiving the ball, distributed on the device and the arm and providing a stable position once the ball reaches the notch and enters it. . The invention will now be described more fully, with reference to the following figures: FIG. 1 is a view of a first embodiment of an end of a telemanipulator arm; FIG. 2 is a view of the device; - Figure 3 is a view of the assembly; - Figure 4 explains the assembly; FIG. 5 is an exploded view of the device; - Figures 6, 7 and 8 illustrate the electrical connection of the camera; - Figure 9 is another view of the device; - Figures 10, 11 and 12 illustrate a second embodiment of the device and its assembly; and FIGS. 13, 14 and 15 illustrate a third embodiment of the device and its assembly. The invention is intended for telemannipulator arms of widespread kind and comprising at their end a tool such as a clamp 2, connected to a distal segment 3 of the arm 1, by a wrist 4. The wrist 4 is here a fitting designed for remain tight and therefore includes an outer sleeve 5, perfectly cylindrical and smooth (Figure 1). The device 15 of the invention comprises a camera 6 (FIG. 2) mounted on a support 7, comprising a fixed part 8 and a mobile part 9. The camera 6 is secured thereto. The fixed part 8 and the mobile part 9 are connected to each other by a hinge 10 provided with a brake 11, that is to say a mechanism for blocking the hinge 10.
    [0006] The fixed part 8 comprises a spring 13, situated under its lower face 14, opposite the moving part 9 and the camera 6. The device 15 of the invention can be mounted on the arm 1 as shown in FIG. , the spring 13 being disposed around the sleeve 5 and the camera 6 being placed just behind the clamp 2 and slightly above it, with an inclination allowing it to observe the work done by the clamp 2.
    [0007] FIG. 4 illustrates the placement of the device 15 on the arm 1, by means of another arm 16, holding the device by the fixed part 8. The spring 13 is directed towards the sleeve 5, then pushed on it by the arm 16 The branches of the spring 13 are then separated, and the spring 13 sinks and fits around the sleeve 5 by tightening. A flat portion 17 of the lower face 14, located in the direction of view of the camera 6, then bears on the upper face of the clamp 2, providing a reference orientation of the device 15 on the clamp 2. The device can be extracted by an opposite movement. Figure 5 illustrates the device 15 in detail. The spring 13 comprises two arched branches 18, their concavities being oriented toward one another, and joined together by a junction 19, screwed to the fixed part 8. However, the free ends of the branches 18 have divergent portions 38 and inclined at an angle, so as to open the legs 18 when the spring 13 is pressed on the connector 5. The fixed portion 8 further comprises a flange 20 through which a ball screw 21, and a housing of an axis 22 The ball screw 21 and the shaft 22 constitute the master parts of the brake 11 and the hinge 10. The fixed part 8 further comprises (FIG. 9) a spacer 39 situated between the branches 18 of the spring 13 and making it possible to maintain in tension the spring 13 when the system is mounted on the wrist 4, forcing a support of the ends of the legs 13 on the wrist 4, and an opening thereof relative to their state of rest. The fixed portion 8 may be provided with a cylindrical machining 40 for housing a shaft not shown, to leave the device 15 when it is at rest. The mobile part 9 comprises a mobile frame 25, carrying the camera 6 and a rear plate 23 holding the camera 6. The latter carries a connector plate on which is mounted the optical connector 24 and electrical. The mobile frame 25 is provided with a lower yoke 26, in which is engaged the axis 22 of the hinge 10. When the assembly is carried out, the mobile frame 25 thus rotates relative to the fixed part 8 by driving the camera 6 and the rest of the movable part 9, but its movement can be stopped by screwing the screw 21, whose ball is pressed into notches made on the side of the movable frame 25. A focusing wheel 27 protrudes from the movable frame 25 at the front, and adjusts the focus of the camera 6.
    [0008] A transmission between the camera 6 and the outside of the camera 6 work place can be provided mainly in two ways. In the embodiment of FIG. 6, the arm 1 and the armored cell 27 in which it works are completely represented, the arm 1 conventionally comprising a master arm 28 outside the cell 27, a slave arm 29 at the interior, which replicates the movements of the master arm 28, and a passage 30 of the cell 27, above an observation window 31. The device 15 can be connected to the outside by a wire 32, connecting the connector 24 to an electrical rod 33 of a known kind, sealingly passing through the wall of the cell 27. The wire 32 may be continuous through the rod 33, or joined to it by a not shown connection.
    [0009] In the design of Figure 7, the wire, then 34, extends along the arm 1, in its segments. It is then expected (FIG. 8) to provide the device 15 with a length of wire 35, ending on a connector 36 that the second arm 16 can plug into a complementary connector 37 established on the distal segment 3, once the device 15 has been put in place.
    [0010] The invention may also be installed on new remote manipulators, which will either replace those that are in production (when they are broken), or equip new cells. While still using the principle of interlocking braked, the invention can then be attached to the rotating connection through shapes made directly on the wrist of the clamp (waterproof connection).
    [0011] Other embodiments will now be described briefly, to explain the concept of interlocking braked between the device and the manipulator arm 1, on which it is mounted. In the embodiment of FIGS. 10 to 12, the support bears the reference 107 and comprises, as before, a fixed part and a movable part. The moving part is similar to that of the previous embodiment, but the fixed part, now 108, differs from the previous one as follows. The spring 13 is removed, and replaced by a groove 42 in the form of female T, that is to say that it is wider at the bottom, on both sides, than the opening. It further comprises a ball pusher 43, at the end of the groove 42. The arm 1 comprises, either on the clamp 2 or on the sealing connector 5, a male groove 41 of complementary shape T and a notch 44 at the end. of the groove. The assembly is carried out by translation, by sliding the grooves 41 and 42 in one another, until the ball of the pusher 43 enters the notch; the device is then retained in place, while being removable, in significant effort, when desired. A third embodiment will be described with reference to FIGS. 13, 14 and 15. The device 207 again differs by its fixed part 208. It comprises a cylindrical orifice 46, which is inserted into a cylindrical rod 45, erected on the coupling 5, or failing that, the clamp 2. The rotational stop of this connection is provided by a tab 47 on the sealing connector 5 and a groove 48 on the fixed portion 208. The tab 47 is disposed next to the rod 45 and extends parallel to it, while the groove 48 extends the orifice 46. The tab 47 slides in the groove 48, as soon as the rod 45 slides in the orifice 46. The braking is again ensured by the ball pusher 49, established here on the tab 47, and whose ball is housed in a notch 50 at the bottom of the groove 48, when the depression is sufficient. The properties of this device are similar to those of the previous embodiment.
    [0012] The device could also comprise other sensors than the camera, and in particular a lighting means, for example, with light-emitting diodes, directed in the same direction as the camera, in order to illuminate the scene; or, among other possibilities, a radioactivity probe, measuring the surrounding activity. Such sensors could be mounted adjacent to the camera, on a free portion of the rear plate 23. The camera could be of any known model, with regard to detected particles (photons or ionizing particles, such as particles a), the detection mode (ordinary optical or charge transfer cameras could thus be used for the detection of photons), or the kind of captured images (two-dimensional or three-dimensional); several cameras could thus be used simultaneously to take three-dimensional images, or particular scenes, more extensive, for example.
    权利要求:
    Claims (15)
    [0001]
    CLAIMS1) Portable camera device for mounting on a telemanipulator arm (1), comprising a camera (6) and a camera support, characterized in that the support comprises interlocking means and brake means associated with means interlocking and complementary brake arranged on the arm.
    [0002]
    2) A portable camera device according to claim 1, characterized in that the support comprises a fixed part (8, 108, 208) to which belong the connecting means included on the support, and a movable part (9), connected to the fixed part by a hinge (10) and a brake (11) to which the camera (6) is attached.
    [0003]
    3) A portable camera device according to any one of claims 1 or 2, characterized in that it comprises a wire (32, 34, 35) transmission between the camera (6) and a place outside a workplace from the camera.
    [0004]
    4) A portable camera device according to any one of claims 1 to 3, characterized in that the face opposite the camera comprises a flat portion (17) located in front of the spring in a direction of sight of the camera.
    [0005]
    5) A portable camera device according to any one of claims 1 to 4, characterized in that the support comprises a hollow cylindrical machining (40) adapted to receive a support rod.
    [0006]
    6) A portable camera device according to claim 2, characterized in that the brake comprises a ball screw (21).
    [0007]
    7) A portable camera device according to claim 3, characterized in that the wire comprises a length (35) integral with the device (15), a length (34) integral with the manipulator arm, and a connection (36, 37) detachable between the lengths of the wire.
    [0008]
    8) A portable camera device according to any one of claims 1 to 7, characterized in that the complementary interlocking means comprise a clamping spring (13) in the form of clamp.
    [0009]
    9) A portable camera device according to claim 8, characterized in that the spring (13) comprises two branches (18) arcuate, having concavities directed towards one another, and free ends (38) diverging forming an angle.
    [0010]
    10) A portable camera device according to claim 9, characterized in that the complementary connecting means comprise a spacer (39) disposed between the legs (18).
    [0011]
    11) A portable camera device according to any one of claims 1 to 7, characterized in that the interlocking means comprise grooves (41, 42) of complementary sections distributed on the device and the arm and sliding one in the other.
    [0012]
    12) A portable camera device according to claim 11, characterized in that the brake means comprise a ball pusher (43, 49) and a notch (44, 50) for receiving the ball, distributed on the device and the arm .
    [0013]
    13) A portable camera device according to any one of claims 1 to 12, characterized in that it comprises, mounted on the support adjacent to the camera, a lighting means directed in the same direction as the camera.
    [0014]
    14) A portable camera device according to any one of claims 1 to 13, characterized in that it comprises, mounted on the support adjacent to the camera, a radioactivity probe.
    [0015]
    15) A portable camera device according to any one of claims 1 to 14, characterized in that the camera is selected from optical cameras, charge transfer, detection of ionizing particles, from two-dimensional or three-dimensional images.
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    引用文献:
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    法律状态:
    2016-03-31| PLFP| Fee payment|Year of fee payment: 3 |
    2017-03-31| PLFP| Fee payment|Year of fee payment: 4 |
    2018-03-29| PLFP| Fee payment|Year of fee payment: 5 |
    2020-03-31| PLFP| Fee payment|Year of fee payment: 7 |
    2021-12-10| ST| Notification of lapse|Effective date: 20211105 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1452290A|FR3018894B1|2014-03-19|2014-03-19|PORTABLE CAMERA DEVICE TO BE ATTACHED TO A TELEMANIPULATOR CLIP|FR1452290A| FR3018894B1|2014-03-19|2014-03-19|PORTABLE CAMERA DEVICE TO BE ATTACHED TO A TELEMANIPULATOR CLIP|
    EP14195794.4A| EP2922287B1|2014-03-19|2014-12-02|Device including a portable camera and a telemanipulating arm|
    US15/127,303| US10611039B2|2014-03-19|2015-03-16|Portable camera device to be attached to a remote manipulator gripper|
    CN201580014912.7A| CN106103005B|2014-03-19|2015-03-16|The portable camera equipment of remote operator fixture will be attached to|
    PCT/EP2015/055396| WO2015140092A1|2014-03-19|2015-03-16|Portable camera device to be attached to a remote manipulator gripper|
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