FR2561972A1 - Device for manoeuvring a rotary member, such as a nut or a bolt, which is accessible only with difficulty - Google Patents

Abstract

The subject of the invention is devices for manoeuvring a rotary assembly member, such as a nut or a bolt, which is accessible only with difficulty. A device according to the invention comprises an emitting rotary member 5, for example a toothed wheel, which is manoeuvred by means of a spanner or of an equivalent tool. It comprises a movement transmission member 6, for example a chain, which is driven by the wheel 5. The other end of the member 6 forms a deformable loop 6a which is engaged around the bolt 1 and which is clamped around the latter by rollers 13a, 13b mounted at the end of a tube 12 which slides telescopically on an internal tube 11. A nut 15 is screwed on the threaded end 14 of the tube 12 in order to move it. One application is the screwing and unscrewing of nuts or bolts which are only partly accessible and which cannot be manoeuvred by a spanner or with an equivalent tool.

Description

 Devices for operating a rotary member, such as a nut or a bolt, which is difficult to access.

 The present invention relates to devices for enabling a rotary member, such as a nut or a bolt, to be maneuvered which is difficult to access.

A previous application FR. 83 / 11.653 (Philippe BERNA), describes devices allowing the rotation of assembly parts such as nuts, screws or bolts, of difficult access. 1,
The present application relates to an improvement to the devices described in this previous application.

 The prior request relates to a device which is generally characterized by the arrangement of means for transmitting torque between two types of rotary members, with non-collinear axes, the first type, known as the transmitter type, being capable of be connected to drive means actuated by the user, the second type, known as the receiver type, being able to be brought into engagement on the assembly part or parts to be rotated.

 The improved devices according to the present application also comprise means making it possible to transmit a torque from a transmitting member to a receiving member which is a rotary member such as a nut or a bolt head which is placed in a not very clear place, which does not not allow the nut or bolt to be turned by means of a portable tool of the wrench type or equivalent or by means of a motorized tool of the impact wrench type or equivalent.

 The improved devices according to the present application also make it possible to remotely screw or unscrew a rotary member of the bolt or nut type which is placed in a place to which access is prohibited or dangerous, for example near an intense heat source. or in an exposed place splashes of corrosive liquid or 9 toxic gas fumes etc ...

 The prior application describes an embodiment in which the receiving member comprises a rotary member, for example a toothed wheel which is driven in rotation by a channe fin \ s end or any other equivalent movement transmission system. This rotary member drives an axis on which is mounted a prism member in the shape of a tenon or mortise capable of receiving a key, a socket or a screwdriver which fits on the nut, bolt or screw which must be operated. .

This prior embodiment makes it possible to remotely control the rotation of a nut, a bolt or a screw, but it requires that the latter be sufficiently clear in height to allow the device according to the prior invention to be placed. above the member to be operated and to engage a socket, wrench or screwdriver thereon. Furthermore, it is difficult, in certain cases, to carry out these operations, in particular in the case where they have to be executed remotely without an operator being able to intervene manually near the member to be maneuvered.
The objective of the present invention is to provide improved devices which can be more easily engaged on a rotary member, of the bolt or nut type, even if the latter is located in a location with very little clearance. the invention allows any nut to be maneuvered since the clearance sufficient to engage an operating member such as a chain around a nut is the same as that which is necessary to engage the nut on the threaded rod on which it is screwed.

 A device according to the invention is used to operate a rotary member such as a nut, a bolt or a rotary mechanical part of difficult access. It is of the known type comprising an endless movement transmission device of the chain, belt or equivalent type which passes over a transmitting rotary member of the toothed wheel or pulley type which is driven in rotation by manual or motorized means incorporated or not to the device.

 The object of the invention is achieved by means of a device, characterized in that the endless member for transmitting the movement forms a deformable loop which is placed around said rotary member and said device comprises means for tightening said loop deformable around said rotary member.

 According to a preferred embodiment, the means for tightening the loop of the endless transmission means around the rotary member to be rotated, are constituted by rollers whose spacing is less than the diameter of said rotary member, which rollers are mounted on a sliding support which allows them to move away from or closer to said loop.

 Advantageously, the sliding support is a first tube inside which passes said movement transmission means, which tube comprises, at one of its ends, .two diametrically opposed rollers which are situated in the plane of said movement transmission means and it comprises, at the opposite end, a thread onto which a nut is screwed which bears on a casing which contains said emitting member.

 Preferably, said casing is integral with a second tube, which is located inside the first tube which slides telescopically on this second tube.

 The present invention relates to both portable tools and manipulator devices of the type comprising several arms hinged together which can be remotely controlled to rotate assembly members such as nuts or bolts or mechanical parts to be mounted or to be dismantled and which are located in premises inaccessible to personnel.

 A remote manipulator device according to the present invention comprises at the front, an arm similar to the portable devices according to the invention. The other arms each include a casing which is articulated to the casings of the two arms which frame it and which contains a movement transmission member which can either be an endless member of the belt or chain type or equivalent, or a shaft which is connected to the trees that surround it with a universal joint.

 The invention results in new means of the portable type or of the telemanimulator type with articulated arms which make it possible to rotate rotary assembly members such as nuts or bolts or else mechanical parts, for example parts assembled by threads, without having to operate a wrench or any other assembly or disassembly tool around the part to be rotated.

 The devices according to the invention make it possible to tighten or loosen nuts or bolts placed in places with little clearance.

The remote manipulators according to the invention make it possible to tighten or loosen nuts or bolts or to assemble or disassemble mechanical parts located in dangerous or unhealthy premises without having to penetrate or stay in them. AT
The fact that the torque is transmitted to the part to be rotated by means of a deformable loop, means that it is not necessary to have a lot of clearance around and above the part to be rotated to engage the loop around it.

 A clearance slightly greater than the width or the height of the chain which constitutes the deformable loop is sufficient, so that the loop can be engaged around the part to be rotated in practically all the cases that are usually encountered.

 The deformable loop can be opened sufficiently to engage around parts of complex shape, for example valve bodies or other threaded elements making up, for example, pipes.

 The engagement of the deformable loop around a nut of a bolt head or of a mechanical part can be carried out fairly easily by manipulator arms, without requiring any manual intervention on the part to be dismantled.

 In addition, the loop kept tight around the part to be dismantled maintains it and constitutes a gripping member which makes it possible to move the parts by means of the manipulator arms once they have been unscrewed or to bring them into place before to screw them on.

 The following description refers to the accompanying drawings which show, without any limitation being examples of embodiments of devices according to the invention.

 Figure I is an axial section of a portable device according to the invention.

 Figure 2 is an axial section perpendicular to the previous one. Figures 3 and 3a are a plan view and a partial view in elevation of a manipulator device according to the invention composed of articulated arms.

 FIG. 4 is a vertical section off the hook from FIG. 3.

 Figure 5 is a vertical section of the drive of the front arm of a manipulator device according to the invention by motion transmission shafts.

 Figures 6 and 7 represent an axial section of a joint between two successive arms, each comprising a shaft.

 Figures 1 and 2 show a portable tool for tightening or loosening assembly members such as nuts or bolt heads generally having a polygonal shape, for example hexagonal. it is specified that this example is not limiting and that a device according to the invention can be used to operate all kinds of machine parts which are assembled by threads or by rotary assemblies of the bayonet type and, in general , any part or component that must be rotated around an axis to assemble it with another or to disassemble it.

 Figures 1 and 2 show, by way of illustration, a device used to operate a hexagonal nut 1, screwed onto a threaded rod 2. The nut I is placed for example in a cramped housing 3, having a single opening narrow access, so that it is not possible to engage a socket on the nut and that even if we can engage a flat wrench on this nut, it is not possible to rotate it around of the axis of the threaded rod 2 to screw or unscrew the nut.

 The problem to be solved is to provide a hand tool which can be engaged on such a nut and which makes it possible to maneuver it from a distance.

The device described in the previous patent application
FR. 83 / 11.653 allowed to maneuver such a nut, but it cannot be engaged on this one because there is not enough clearance above or around the nut to engage a socket on this one.

 This problem is solved by means of an improved device derived from that which is described in the previous application.

 This improved device comprises, like the previous one, a rotary emitting member 5 and an endless member for transmitting torque or movement 6.

 For example, the emitter or motor member is a toothed wheel 5 mounted on an axis 7 which pivots in a casing 8. The axis 7 exits outside the casing and carries a rotational drive member 9, which can present all kinds of configurations allowing to exert a torque around the axis 7 to rotate the motor member 5 and drive the movement transmission member 6.

 As a simple illustration, there is shown a drive member 9 comprising at the base a hexagonal nut 9a surmounted by a square 9b, so that it can be rotated either with a key engaged on the nut 9a, either with a tool of the socket or tube wrench type 10 or with any kind of manual or motorized tools allows both to exert a torque on the axis 7.

The mechanical connection between the drive member 9 and the toothed wheel 5 may include a reversible ratchet or freewheel system making it possible to drive the wheel 5 in one direction
The endless member 6 for transmitting the movement is, for example, a gall chain or any other equivalent endless member, for example a toothed belt, a ribbed ribbon, a chain, a cable, etc. The transmitting member 5 is adapted to the nature of the movement transmission member 6. The movement transmission member 6 passes inside an internal tube 11 which extends the casing 8 forward.

 An outer tube 12 is disposed around the inner tube 11 and it can slide telescopically along the latter.

 The chain 6 or any other equivalent movement transmission member passes longitudinally through the tubes 11 and 12 and forms a deformable loop 6a which exits outside the tube 12, beyond the front end of the latter.

 We engage the deformable loop 6a around the nut 1 to be maneuvered as shown in Figures 1 and 2. We see in Figure 2 that the free space above 1 1 upper end of the threaded rod 2, which is necessary to engage the nut on the rod, is sufficient to let pass the loop 6a which has a height less than or equal to that of the nut. A small free space around the nut is also sufficient so that the loop 6a can surround it. Furthermore, the engagement of a preformed loop around a nut can be carried out without an operator n1 having to intervene manually near the nut and this operation can be carried out by a movable arm which carries a device according to the invention and which is remote-controlled and a device according to the invention is particularly suitable for equipping robot manipulators to maneuver parts rotating remotely.

 When the loop 6a is engaged around the nut 1, the sliding tube 12 is brought back, so that the loop 6a has a section greater than that of the nut around which it engages freely. Once the loop 6a is engaged around the nut 1, it is tightened around the latter.

 According to a preferred embodiment, shown in Figures 1 and 2, the loop tightening means is constituted by two rollers 13a, 13b which are rotatably mounted on the front end of the outer tube 12, for example in two notches 14, diametrically opposite the axes of the two rollers 13a, 13b are perpendicular to the plane of the loop 6a and the spacing between the rollers is significantly less than the diameter of the nut 1. The rear end of the outer tube 12, c ' that is to say the end opposite to the rollers 13a and 13b has a male thread 15 on which a nut 15a is screwed.

 The nut 15a is supported on a ring 16 which itself leans against a shoulder of the casing 8 on which it is fixed.

The ring 16 serves to allow the passage of the threaded end 15 when the external tube 12 is moved back.

 By turning the nut 15a, the tube 12 is advanced which applies the rollers 13a and 13b against the loop 6a, which has the effect of closing and tightening the latter around the nut 1. Handles 17 make it possible to hold the device. Once the loop 6a is closed, a torque is exerted around the axis 7 by means of a manual tool 10 or a mechanized tool. This torque drives the toothed wheel 5 which drives the chain 6a and the latter exerts a torque on the nut 1 and makes it turn. The tightening of the loop 6a by the rollers 13a, 13b ensures the adhesion of the chain 6 to the nut 1. This adhesion is facilitated by the folding of the chain links around the edges of the nut.

 The same adhesion can be obtained by replacing the chain by a notched belt or by a ribbon carrying transverse streaks or by a rope carrying knots or asperities. The usual polygonal shape of the nuts and bolt heads facilitates this adhesion.

However, the invention is not limited to the operation of assembly members of polygonal shape. It can be used for example to maneuver nuts or cylindrical parts having a ridged or knurled surface.

 The rotating rollers 13a, 13b facilitate the movement of the chain 6 during the rotation of the nut 1. However, it is specified that an apparatus comprising rotating rollers as a means of tightening the buckle is a preferred embodiment, but not limiting.

 The tube 12 could be equipped for example with an O-ring surrounding the front end of the tube against which the chain 6 would rub. Similarly, the telescopic tube 12 is a preferred embodiment of a sliding support which could be replaced by other supports, for example by rods parallel to the axis of the inner tube 11.

 Figures I and 2 shows an embodiment of a manual device which is used by an operator to rotate nut or a mechanical part placed in a place which does not allow to engage on the nut or-around the part a traditional tool, such as a wrench or any other equivalent assembly or disassembly tool.

In this case, the operator uses a manual or motorized tool to exert a torque directly around the axis 7 and this torque is transmitted to the workpiece to be rotated by the torque transmission member 6. 1
A device according to the invention can also be adapted on remote manipulator devices with articulated arms, which are used to remote control assembly or disassembly operations in places where operators cannot penetrate. In this case, the last arm forward carrying a loop 6a, which is engaged around the part to be turned, remains similar to the portable device described in Figures 1 and 2. By cons, the means 9 shown in Figure 2, are replaced by any known transmission means making it possible to rotate the axis 7 and located in articulated arms.

 In the case where the transmission means are placed in casings, these casings are also articulated with one another.

 The articulations of the arms and casings make it possible to arrange the manipulator following a winding path to avoid obstacles. The joints include blocking means which allow the remote manipulator to be frozen in a given configuration.

 Figures 3 and 4 show an embodiment of the front end of a manipulator device according to the invention composed of several arms hinged together. Figure 3 is a horizontal section. Figure 3a is a partial elevation.

Figure 4 is a vertical section taken off line IV-IV of Figure 3. e
The left part of Figures 3 and 4 shows the last arm forward. This arm is analogous to the portable tool shown in Figures 1 and 2. We find in these figures that the external 12 carrying a pair of rotating rollers 13a, 13b and the deformable loop 6a of the chain coming out of the tube. The two strands of the chain 6 pass inside the tube 12 and join a drive wheel li which is mounted idly on the axis 7.

A second wheel or pulley 18 is also mounted idly on the axis 7 and it is integral in rotation with the wheel 11, so that the movement of the wheel 18 is transmitted to the wheel 11. The wheels
It and 18 can have different diameters in order to obtain a torque reduction.

 The wheel 18 is connected by an endless movement transmission member 19 of the belt or chain type or equivalent to a wheel or pulley 20, which is mounted idly on an axle 21 and which is integral with a wheel or pulley 22 mounted idly on the same axis 20.

 A new belt or chain 23 rotates the wheel or pulley 22 and so on, the apparatus being able to comprise numerous articulated arms.

 The last wheel or pulley placed at the rear end of the device is rotated either by a rotary arm or a gearmotor that is part of the remote manipulator, or by a hand-held or motorized portable tool.

 Each belt or chain 6, 19, 23 etc ..., is placed inside a casing forming an arm which is articulated to the two arms which frame it except for the first and the last.

 Found in Figures 3 and 4 the housing 8 which constitutes the first arm forward. This casing 8 is articulated around the axis 7, around which it can rotate freely. The rear end of the casing 8 is open to allow the movement transmission member 19 to pass. The latter is placed in a second casing 24 which is open to its extracted them. The front end of the housing 24 is integral with the axis 7. The rear end of the housing 24 is articulated around the axis 21 around which it can rotate freely.

 The next movement transmission member 23 is also enclosed in a casing 25, which is open at both ends.

 The front end of this casing is integral with the axis 21 while the rear end rotates freely around the axis of the following articulation and so on.

 Figures 3 and 4 show a fully motorized remote control device remote control to be used in premises inaccessible by ic staff. Each of the axes -7, 21 etc.

is rotated by a small geared motor group 26, 27 etc.

which allows you to remotely control the orientation of the articulated arms relative to each other. The nut 15a carries, at its periphery, a toothed ring which meshes with a drive pinion 28 which is driven by a small geared motor group 29 carried by the casing 8. The motor 29 makes it possible to remotely control the opening and closing of the deformable loop 6a by the displacement of the rollers 13a and 13b.

 Figures 3 and 4 show an embodiment of a manipulator in which the tightening or loosening torque is transmitted from one arm to the next by endless members 19, 23 of the belt or chain type. it is specified that this example is not limiting and that the movement transmission members can also be shafts connected together by cardan shafts which make it possible to transmit a movement between two shafts hinged together, around two orthogonal axes. In this case, the last forward arm always includes an endless member 6 forming a loop 6a and passing over a wheel or a drive pulley 5 secured to an axis 7 which also carries a bevel gear on which meshes a second bevel gear.

 FIG. 5 represents a partial vertical cut passing through the axis 7 on which is mounted the toothed wheel 5 driving the chain 6. The axis 7 pivots in the casing. The axis 7 carries a bevel gear 30, which meshes with another bevel gear 31 fixed to the end of a shaft 32 which is assembled to a shaft 33 by a universal joint 34. The shafts are carried in the housings by bearings such as the bearing 35. These housings are articulated between them like the housings shown in Figures 3 and 4.

 A remote manipulator according to the invention can comprise image transmission systems by cables or optical fibers or by waves between the front end and a display screen perceptible by an operator in order to facilitate the maneuvers of engagement of the deformable loop on a piece and arm movements to avoid obstacles. It is also possible to transmit positioning information of the joints with respect to each other.

 Figures 6 and 7 show an axial section of an Articulation.

between two successive shafts 40, 41 connected together by a cardan joint 34 and placed in two casings 36, 37 which are articulated between them around two aligned pivots 38 which define an axis coincident with one of the two axes of the cardan joint.

 The casing located to the left of the joint 38 is divided into two parts 36 and 36a which are connected together by a bearing 39, so that they can pivot relative to each other about the axis from tree 40.

 In the case where the remote manipulator is remotely controlled, the half casing 36a carries a geared motor group 42 which drives a pinion 43 which meshes with a ring gear 44, placed around the half casing 36.

 Likewise, one or both of the pivots 3B are a geared motor group 45 making it possible to orient the casing 37 relative to the half casing 36.

 The articulation 38 and the connection between the two half casings 36 and 36a include locking devices in various angular positions.

Claims (10)

 1. Device for maneuvering a rotary receiving member (1) such as a nut, a bolt or a rotary mechanical part of difficult access, of the type comprising an endless transmission member (6) of movement of the chain, belt or equivalent, which passes over a transmitting rotary member (5) which is rotated, characterized in that said endless transmission member (6) of movement forms a deformable loop (6a) which is placed around said receiving rotary member (1 ) and said device comprises means for tightening said deformable loop (6a) around said rotary receiving member (1).  2. Device according to claim 1, characterized in that said means for tightening said deformable loop around said receiving rotary member (1) consist of rollers (13a, 13b) whose spacing is less than the diameter of said rotating member, which rollers are mounted on a sliding support (12) which allows them to be moved away from or closer to said loop (6a).  3. Device according to claim 2, characterized in that said sliding support is a first tube (12) inside which passes said endless transmission member (6) of movement, which tube (12) comprises> at one of its ends, two rollers (13a, 13b), diametrically opposite, whose axes are perpendicular to the plane of said endless transmission member and it comprises, at the opposite end, a thread (15) on which a nut is screwed (15a) which is supported on a casing (8) which contains said transmitting member (5).  4. Device according to claim 3, characterized in that said casing (8) is integral with a second tube (11), which is located inside the first tube (12) which slides telescopically on this second tube.  5. Remote manipulator device for rotating rotary members such as nuts or bolts or mechanical parts, located in premises inaccessible to personnel, of the type comprising several arms hinged together, characterized in that the last front arm is a device according to any one of claims 1 to 4 and each of the other arms comprising: (A) a casing (24, 25 ....) articulates to the casings of the two arms which surround it, by a hinge provided with a blocking and (B) a movement transmission member placed inside said casing.  6. Remote manipulator device according to claim 5 with remote-controlled movements, characterized in that said nut (15a) comprises a toothed ring which meshes with a pinion (28) driven in rotation by a geared motor group (29).  7. Device according to claim 5 or 6, characterized in that each of said movement transmission members is an endless member (19,23) of the chain, belt or equivalent type, which passes over two wheels or pulleys situated at the two ends of each of the arms and the articulation of an arm with the following arm comprises an articulation axis (21) on which two wheels or pulleys (20,22), integral in rotation, are mounted idly and the ends close to the two housings two arms are articulated around said axis, one being idly mounted on this axis and the other being integral in rotation with the latter.  8. Device according to claim 7, characterized in that each of said articulation axes (7, 21) of the arms is equipped with a geared motor group (26, 27) which makes it possible to remote control the mutual orientations of the arms, the base of said group being integral with the casing of the arm whose end close to the articulation is mounted idly on said articulation axis.  9. Device according to claim 5, characterized in that the movement transmitting member fitted to each arm is a shaft (32,33) which is connected to the shafts of the arms which surround it by seals on the dial (34).  10. Device according to claim 9, characterized in that the most forward shaft (32) drives a bevel gear (31) which meshes in angular gear with another bevel gear (30) wedged on the same axis (7 ) that said rotary transmitter unit (5).