Protective sleeve for the insertion of a manipulator arm connected in a sealed manner with an effector housed in the confined enclosure of a glove box, Associated glove box.

Abstract

Protective sleeve for inserting a manipulator arm connected in a sealed manner with an effector housed in the confined enclosure of a glove box, associated glove box. The invention essentially consists of a protective sleeve (1) for inserting a manipulator arm (6) into a glove box (12), comprising a sealed connector (4) for fixing and removably connecting the manipulator arm, threaded into the protective sleeve, with an effector (7), housed in the confined enclosure of a glove box. Figure for the abstract: fig.2

Description

Title of the invention: Protective sleeve for the insertion of a manipulator arm connected in a sealed manner with an effector housed in the confined enclosure of a glove box, Associated glove box. Technical field

[0001] The present invention relates to the field of glove boxes, and more particularly to protective sleeves for the sealed insertion of an arm into a glove box in order to manipulate elements contained in the confined enclosure of the glove box. Prior art

[0002] A glove box is a hermetic enclosure of which at least one of its walls is transparent, the hermetic enclosure being adapted for handling substances and objects in a controlled atmosphere. Glove boxes are particularly interesting when the substances or objects to be handled are harmful to humans or are contaminable, as is the case, for example, in the nuclear, chemical, pharmaceutical and medical fields.

[0003] A glove box comprises at least one through opening provided in one of its walls and in which a flexible sleeve is intended to be mounted in a sealed manner, in order to access the products and materials present inside the glove box. The flexible sleeve ensures the maintenance of a controlled atmosphere within the enclosure by forming a hermetic barrier through which the elements contained in the enclosure can be handled.

[0004] Usually, the flexible sleeve is a glove to accommodate an operator's hand. However, handling elements contained in a glove box using a glove remains dangerous for an operator.

[0005] Indeed, there are risks of accidents that could break the seal of the glove box and therefore expose the operator to the harmful elements contained therein. In particular, there is the risk of piercing the glove during handling.

[0006] Although the glove box is opaque to alpha and beta radiation, gamma radiation can be transmitted through the glove. Also, glove boxes using a glove as a flexible sleeve do not provide optimal protection for the handling of radioactive elements by an operator.

[0007] Furthermore, certain tasks involving handling elements contained in a glove box by an operator are daunting, for example maintenance tasks. preventive and cleaning. Carrying out these tasks by an operator reduces the working time available for other tasks with higher added value.

[0008] In order to overcome at least some of the aforementioned drawbacks, a manipulator arm, for example a robotic arm or a slave arm of a telemanipulator, can be used for manipulating elements contained in a glove box.

[0009] However, standard glove boxes are not suitable for the installation of a manipulator arm entirely inside their enclosure. In particular, the interior of glove boxes is generally cramped and may be cluttered with numerous objects. In addition, a manipulator arm may not be suitable for withstanding the confined atmosphere of glove boxes, which may in particular be corrosive, dusty and / or radioactive. Furthermore, the maintenance of a manipulator arm arranged entirely inside a glove box would prove very complex.

[0010] It is therefore preferable to place the manipulator arm outside the glove box and insert it into the flexible sleeve, which is where appropriate a protective sleeve for the manipulator arm, in order to manipulate the elements within the glove box.

[0011] Like a glove, the protective sleeve ensures that a controlled atmosphere is maintained within the glove box by forming a hermetic barrier between the interior of the box and the manipulator arm. In addition, the protective sleeve protects the manipulator arm from the confined atmosphere.

[0012] WO 2021 / 053598 A1 describes a protective sleeve for inserting a robotic arm into a glove box. The closed end of the protective sleeve is U-shaped to cover the effector of the robotic arm, in the form of a gripper, in the protective sleeve. The protective sleeve is therefore only suitable for using a gripper as an effector of the robotic arm.

[0013] When handling an element contained in the confined enclosure of a glove box, the protective sleeve described by WO 2021 / 053598 A1 forms a wall between the effector and the element, which reduces the sensitivity and dexterity of the effector. In particular, the quality of the force feedback of the effector is degraded. Since the protective sleeve is in direct contact with the elements contained in the glove box, there is a significant risk of tearing thereof and therefore of breaking the confinement of the controlled atmosphere. Similarly, the protective sleeve may be deformed by the effector, for example pinched or marked, which risks piercing it.

[0014] Furthermore, by completely covering the robotic arm and the effector, the protective sleeve described by WO 2021 / 053598 A1 greatly hinders the freedom of movement of the robotic arm and the effector. In particular, the protective sleeve rotates simultaneously with the effector during a rotation of the latter around its longitudinal axis relative to the rest of the robotic arm, this rotation being very useful for screwing and unscrewing actions. This rolling of the protective sleeve further increases the risk of tearing.

[0015] EP 3 498 438 A1 describes a protective bellows for inserting a robotic arm into a glove box, an effector in the form of a gripper being fixed at the end of the protective bellows with an actuating mechanism housed in the protective bellows. Thus, the robotic arm can be inserted into the protective bellows and connected with the actuating mechanism so as to control the movements of the gripper in the glove box.

[0016] However, the protective bellows described by EP 3 498 438 A1 has many drawbacks. In particular, this bellows is limited to a single effector which cannot be changed or replaced. Furthermore, the effector fixed to the bellows is not free to rotate around its longitudinal axis, which prevents any screwing and unscrewing operation by the robotic arm. In addition, the bellows is not suitable for significant movements of the robotic arm.

[0017] There is therefore a need to improve protective sleeves for the sealed insertion of a manipulator arm into a glove box, in particular which overcomes the aforementioned drawbacks.

[0018] The aim of the invention is to respond, at least in part, to this(these) need(s). Statement of the invention

[0019] To do this, the invention relates to a protective sleeve for inserting a manipulator arm into a glove box, comprising: - a flexible and airtight sleeve, - a support ring sealingly mounted on an open end of the sleeve, the support ring being adapted to sealingly secure the sleeve to a glove box enclosure ring, - a tip sealingly closing the end of the sleeve opposite the open end, comprising: • a fixed end ring relative to the sleeve, • a connector fitted into the tip ring while being able to rotate infinitely around the central axis of the tip ring, comprising an internal face, housed in the sleeve and configured to be removably attached to the end of the manipulator arm, and an external face, arranged outside the sleeve and configured to be removably attached to an effector.

[0020] By "manipulator arm" is meant an articulated mechanical arm for manipulating elements contained in the glove box, the arm being controlled manually or by computer. In particular, the manipulator arm can be remotely operated, remote-controlled, programmed offline and / or operated axis by axis via an interface man-machine. For example, the manipulator arm can be a robotic arm or a slave arm of a telemanipulator.

[0021] By "effector" is meant a tool intended to be mounted at the end of a manipulator arm to enable it to perform certain applications by interacting directly with an element contained in a glove box. For example, the effector may be a gripping tool, in particular a clamp, or a portable power tool.

[0022] Preferably, a portion of the sleeve at its open end is a bellows.

[0023] Preferably, the sleeve is translucent over at least part of its length, preferably along its entire length.

[0024] Preferably, the sleeve is made of polyurethane or polyvinyl chloride.

[0025] Preferably, the tip comprises a rigid and transparent flange with a outer circumference tightly fixed to the sleeve and an inner circumference tightly fixed to the end ring.

[0026] Preferably, the sleeve comprises a frustoconical portion at its closed end, the tip ring being fixed directly to the top of the frustoconical portion.

[0027] Preferably, the protective sleeve comprises at least one rotating junction sealingly joining two portions of the sleeve together, the two portions being movable in infinite rotation relative to each other around the longitudinal axis of the sleeve.

[0028] Preferably, the connector comprises internal pins projecting from the internal face and intended to be inserted into grooves hollowed out in a locking plate of the manipulator arm in order to fix the manipulator arm with the connector.

[0029] Preferably, the connector comprises external pins projecting from the external face and being intended to fit into grooves hollowed out in an effector locking plate in order to fix the effector with the connector.

[0030] Preferably, the connector comprises a connector extending from the inner face to the outer face in order to electrically connect the manipulator arm with the effector.

[0031] Preferably, the connector is an electronic card with tracks projecting from the internal face on the one hand and projecting from the external face on the other hand.

[0032] Preferably, the tip comprises a ball bearing arranged between the fitting and the tip ring coaxially surrounding the fitting.

[0033] The present invention also relates to an assembly for handling elements contained in a glove box, comprising: - a protective sleeve according to the present invention, - a manipulator arm configured to fit into the protective sleeve by attaching removably to the internal face of the connector, - at least one effector configured to be removably attached to the face external of the connection.

[0034] Preferably, the connector comprises internal pins projecting from the internal face, the manipulator arm comprising a locking plate comprising grooves each comprising an insertion portion adapted to insert one of the internal pins and a fixing portion in the extension of the insertion portion and being adapted to fix the manipulator arm to the connector by translation of the internal pin from the insertion portion, preferably the locking plate being adapted to slide between a locking position in which the internal pins are in the fixing portion of the grooves to a disengagement position in which the internal pins are in the insertion portion of the grooves.

[0035] Preferably, the connector comprises external pins projecting from the external face, the effector comprising a locking plate comprising grooves each comprising an insertion portion adapted to insert one of the external pins and a fixing portion in the extension of the insertion portion and being adapted to fix the effector to the connector by translation of the external pin from the insertion portion, preferably the locking plate being adapted to slide between a locking position in which the external pins are in the fixing portion of the grooves to a disengagement position in which the external pins are in the insertion portion of the grooves.

[0036] The present invention also relates to a glove box comprising: - a hermetic enclosure comprising a through opening made in one of its walls, an enclosure ring being fixed on the edge of the opening, - an assembly according to the present invention, the protective sleeve being fixed in a sealed manner to the enclosure ring, the effector being housed in the sealed enclosure.

[0037] The present invention therefore essentially consists of a protective sleeve comprising a sealed connection making it possible to fix and removably connect a manipulator arm, threaded into the protective sleeve, with an effector, housed in the confined enclosure of a glove box.

[0038] The invention thus makes it possible to dispense with an envelope around the effector forming a wall between the elements to be manipulated and the effector. The sensitivity and dexterity of the effector are then not reduced and the risks of tearing the protective sleeve and therefore of breaking the confinement of the hermetic enclosure are minimized.

[0039] In addition, the protective sleeve according to the invention allows the easy connection of a manipulator arm with various effectors while maintaining the tightness of the confined atmosphere. The same manipulator arm and the same protective sleeve can thus be used for different applications requiring different effectors, without having to remove said manipulator arm and said protective sleeve from the enclosure.

[0040] Thanks to the protective sleeve according to the invention, the manipulator arm is not immersed or brought into contact with the confined atmosphere of the glove box. It is therefore protected from possible contamination and / or corrosion. This minimizes the waste produced during handling of elements contained in the glove box, only the protective sleeve and the effector being considered as disposable waste after handling. In addition, the protective sleeve according to the invention is made of materials compatible with the treatment of conventional waste in the nuclear field, it is in particular free of aluminum.

[0041] Furthermore, the protective sleeve allows maximum freedom of movement for the manipulator arm infiltrated within it. In particular, the protective sleeve does not hinder rotation of the effector around its longitudinal axis relative to the manipulator arm, which greatly facilitates screwing and unscrewing actions.

[0042] The protective sleeve according to the invention is also suitable for existing glove boxes and therefore does not require modification of the latter for the installation of the protective sleeve. In particular, the mounting of the sleeve and the support ring in an enclosure ring can be similar to those already existing for mounting a glove in the opening of a glove box. In particular, it can comply with existing standards according to ISO 11933-1.

[0043] The protective sleeve according to the invention is simple and quick to install on a glove box. It is suitable for replacing a glove or another protective sleeve without breaking the confinement of the controlled atmosphere. Brief description of the drawings

[0044] Other advantages and characteristics will become more apparent upon reading the detailed description, given for illustrative and non-limiting purposes, with reference to the following figures:

[0045] [Fig.l] [Fig.l] is a schematic side view of a protective sleeve according to the present invention.

[0046] [Fig.2A] and [Fig.2B] Figures 2A and 2B are schematic side views of a protective sleeve according to the present invention with a robotic arm threaded therein and connected to a gripper effector.

[0047] [Fig.3] [Fig.3] is a schematic side view of a glove box according to the present invention.

[0048] [Fig.4] [Fig.4] is a longitudinal sectional view of an end piece of a protective sleeve according to the invention.

[0049] [Fig.5] [Fig.5] is a photograph of an end piece of a protective sleeve according to the invention taken from the side of the external face of the connector.

[0050] [Fig.ôA] [Fig.ôA] is a longitudinal sectional view of a tip of a sleeve protection according to the invention with a robotic arm and an effector connected to the connector of the tip, the locking plates of the robotic arm and the effector being in the connection locking position.

[0051] [Fig.6B] [Fig.6B] is a longitudinal sectional view of a tip of a protective sleeve according to the invention with a robotic arm and an effector connected to the connector of the tip, the locking plates of the robotic arm and the effector being in a position allowing the disengagement of the internal and external pins of the connector.

[0052] [Fig.7] [Fig.7] is a cross-sectional view of the connection of an effector with the tip of a protective sleeve according to the invention, the locking plate of the effector being in the connection locking position.

[0053] [Fig.8] [Fig.8] is a perspective view of a tip of a protective sleeve according to the invention connected with a robotic arm and an effector, the tip, the robotic arm and the effector being cut longitudinally.

[0054] [Fig.9] [Fig.9] is a schematic side view of a protective sleeve according to the present invention with a robotic arm threaded therein, the protective sleeve comprising a rotating junction.

[0055] [Fig. 10] [Fig. 10] is a photograph of a protective sleeve according to the present invention, the sleeve of the protective sleeve comprising a frustoconical portion at its closed end, the tip ring being attached directly to the top of the frustoconical portion. Detailed description

[0056] For reasons of clarity, the various elements of the figures are represented in free scale, the actual dimensions of the various parts not necessarily being respected.

[0057] [Fig.l] illustrates a protective sleeve 1 according to the present invention. The protective sleeve 1 comprises a flexible and hermetic sleeve 2 open at its end 2a and closed at its other end 2b.

[0058] The flexibility of the sleeve 2 makes it possible not to constrain the movements of a manipulator arm. In particular, the sleeve 2 may be made of polyurethane or polyvinyl chloride. These materials, in addition to being flexible and airtight, have the advantage of having good tear resistance.

[0059] Preferably, the sleeve 2 is translucent. It is thus possible to observe the manipulator arm inserted into the sleeve 2, which facilitates its control and manipulation. In particular, an operator better understands the joint configuration of the manipulator arm during a teleoperation.

[0060] An oversleeve may be fitted around the sleeve 2 in order to further reduce the risk of piercing or tearing the sleeve 2.

[0061] The protective sleeve 1 also comprises a tip 3 sealingly closing the end 2b of the sleeve 2. The tip 3 comprises a connector 4 fitted in a sealing manner in a tip ring 5 while being movable in rotation around the central axis of the tip ring 5.

[0062] As illustrated in Figures 2A and 2B, the connector 4 is adapted to mechanically connect and electrically connect the end of a robotic arm 6 threaded into the protective sleeve 1 with an effector 7. The architecture as well as the operation of the connector 4 will be explained later.

[0063] The robotic arm 6 may be a six or seven axis robot, for example a “Kinova Gen3” marketed by the company Kinova.

[0064] The end piece 3 also comprises a flange 8 whose outer periphery is fixed in a sealed manner to the end 2b of the sleeve 2 and whose inner periphery fixes the end piece ring 5 in a sealed manner to the sleeve 2.

[0065] Preferably, the flange 8 is rigid and transparent. For example, the flange 8 is made of rigid polyvinyl chloride, in particular crystal. Thus, the robotic arm 6 may comprise a camera module 9 at its end connected to the connector 4 to observe the interior of the glove box 12 through the flange 8.

[0066] Such a camera arrangement is preferable to the arrangements known from the prior art. For example, a camera fixed in the sealed enclosure of a glove box often has an obstructed field of vision and is difficult to access for maintenance operations. A camera mounted outside the glove box and observing its interior through one of its transparent walls often has a poor viewpoint for following a handling operation.

[0067] The protective sleeve 1 also comprises a support ring 10 fixed in a sealed manner to the open end 2a of the sleeve 2. As illustrated in [Fig.3], the support ring 10 is adapted to fit into an enclosure ring 11 of a glove box 12 so as to fix in a sealed manner the sleeve 2 to the enclosure ring 11. The sealed assembly of the sleeve 2 with the enclosure ring 11 by means of the support ring 10 can be according to existing standards according to the ISO 11933-1 standard.

[0068] Thus, the protective sleeve 1 is adapted to the already existing glove boxes 12 and therefore does not require modification of the latter 12 for its installation. In addition, the methods for installing and replacing the protective sleeve 1 are simple and similar to those already known from the prior art for glove box gloves 12. They can be carried out without breaking the confinement of the controlled atmosphere of the glove box 12, in particular using an ejection gun.

[0069] The portion of the sleeve 2 at its open end 2a is preferably a bellows 13. As illustrated in Figures 2A and 2B, the bellows 13 allows, by deploying or folding, to advance or retract the robotic arm 6 into the glove box 12 without risk of tearing the sleeve 2. The robotic arm 6 can thus be more or less pushed into the glove box 12 depending on the desired handling operation. Thus, for a more or less deep operation in the glove box 12, that is to say more or less close to the wall, only certain axes of the robotic arm 6 can be inserted similarly to an operator who either inserts only his hand and his wrist or inserts his arm up to the shoulder into a glove box depending on the depth of the operations to be carried out.

[0070] Furthermore, the bellows 13 increases the freedom of movement of the robotic arm 6 inserted into the protective sleeve 1. The bellows 13 also makes it possible to avoid excessive tension being applied to the sleeve 2 in the event of the latter being wound by the robotic arm 6 around its central axis.

[0071] Figures 4 and 5 illustrate an end piece 3 of a protective sleeve 1 according to the invention. The end piece 3 comprises the connector 4 fitted in a sealed manner in the end piece ring 5, itself 5 fixed in a sealed manner to the flange 8. In particular, the end piece ring 5 is fixed to the flange 8 by pinching using a nut 14. Alternatively, the end piece ring 5 can be fixed directly to the sleeve 2 in a similar manner or the sleeve 2 can comprise a bead housed compressed in the end piece ring 5.

[0072] The connector 4 is movable in infinite rotation relative to the end ring 5 around its central axis X. In particular, the end ring 3 comprises a sealed ball bearing 15 arranged between the connector 4 and the end ring 5. A ring 16 surrounds the connector 4 to hold the ball bearing 5 in abutment. O-rings 17 ensure sealing between the connector 4 and the ball bearing 15 and between the ball bearing 15 and the end ring 5.

[0073] The connector 4 comprises an internal face 18 arranged in the sleeve 2 and an external face 19 opposite the internal face 18 and outside the sleeve 2. The connector 4 comprises a tubular body 20 to which are fixed internal pins 21, projecting outside the body 20 on the side of the internal face 18, and external pins 22, projecting outside the body 20 on the side of the external face 19. O-rings 23 ensure the sealing of the fixing of the internal pins 21 and the external pins 22 with the body 20. For example, the internal pins 21, respectively the external pins 22, are distributed in a triangle. Each of the internal pins 21 and the external pins 22 has the shape of a keel, that is to say has a cylindrical shape extending parallel to the central axis X and comprising a radial groove 24.

[0074] As illustrated in Figures 6A, 6B and 7, the internal pins 21 make it possible to removably fix the end of the robotic arm 6 on the internal face 18 of the connector 4, and the external pins 22 make it possible to removably fix the effector 7 on the external face 19 of the connection 4.

[0075] The robotic arm 6 comprises a locking plate 25 slidably mounted at its end. The locking plate 25 comprises through grooves 26. Each groove 26 comprises an insertion part with a wider section than that of the internal pins 21 and a fixing part in the extension of the insertion part and whose section is of complementary shape with the radial groove 24 of the internal pins 21.

[0076] Thus, the internal pins 21 can engage in the grooves 26 through the insertion part, then the locking plate 25 can slide orthogonally to the central axis X so that the internal pins 21 translate in the grooves 26 until they are inserted into the fixing part of the grooves 26. Once in abutment in the fixing part of the grooves 26, the internal pins 21 are blocked by the locking plate 25. The robotic arm 6 is then fixed to the connector 4. Figures 6A show the locking plate 25 in its position for blocking the internal pins 21 in abutment in the fixing part of the grooves 26.

[0077] The robotic arm 6 also comprises a helical spring 27 which maintains the locking plate 25 in return force in the locking position, that is to say with the internal pins 21 inserted in abutment in the fixing part of the grooves 26. The helical spring 27 thus ensures the blocking of the internal pins 21 by the locking plate 25.

[0078] The unlocking of the internal pins 21 is carried out by sliding the locking plate 25 orthogonally to the central axis X, which compresses the helical spring 27, so that the internal pins 21 translate in the grooves 26 until they are inserted into the insertion part of the grooves 26. The internal pins 21 can then be disengaged from the grooves 26. The robotic arm 6 is then no longer fixed to the connector 4.

[0079] The sliding of the locking plate 25 can be actuated using a push button 28. The push button 28 can be arranged opposite the helical spring 27.

[0080] [Fig.6B] illustrates the locking plate 25 in its position for compressing the helical spring 27 with the internal pins 21 in the insertion part of the grooves 26. The arrow Fi symbolizes the pushing force applied to the push button 28 to slide the locking plate 25.

[0081] Similarly, the effector 7 comprises a locking plate 29 slidably mounted at one of its ends. The locking plate 29 comprises through grooves 30. Each groove 30 comprises an insertion part with a wider section than that of the external pins 22 and a fixing part in the extension of the insertion part and whose section is of complementary shape with the radial groove 24 of the external pins 22.

[0082] Thus, the external pins 22 can engage in the grooves 30 through the insertion part, then the locking plate 29 can slide orthogonally to the central axis X so that the external pins 22 translate in the grooves 30 until they are inserted into the fixing part of the grooves 30. Once in abutment in the fixing part of the grooves 30, the external pins 22 are blocked by the locking plate 29. The effector 7 is then fixed to the connector 4. Figures 6A and 7 show the locking plate 29 in its position for blocking the external pins 22 in abutment in the fixing part of the grooves 30.

[0083] The effector 7 also comprises a helical spring 31 which maintains the locking plate 29 in return force in the locking position, that is to say with the external pins 22 inserted in abutment in the fixing part of the grooves 30. The helical spring 31 thus ensures the blocking of the external pins 22 by the locking plate 29.

[0084] The unlocking of the external pins 22 is achieved by sliding the locking plate 29 orthogonally to the central axis X, which compresses the helical spring 31, so that the external pins 22 translate in the grooves 30 until they are inserted into the insertion part of the grooves 30. The external pins 22 can then be disengaged from the grooves 30. The effector 7 is then no longer fixed to the connector 4.

[0085] The sliding of the locking plate 29 can be actuated using a push button 32. The push button 32 can be arranged opposite the helical spring 31.

[0086] [Fig.6B] illustrates the locking plate 29 in its position for compressing the helical spring 31 with the external pins 22 in the insertion part of the grooves 30. The arrow F2 symbolizes the pushing force applied to the push button 32 to slide the locking plate 29.

[0087] The glove box 12 may also comprise an effector holder station on which several different effectors can be deposited and to facilitate the assembly of an effector 7 with the connector 4.

[0088] As illustrated in Figures 4 to 7, the connector 4 also comprises a connector 33 housed in the through opening of the tubular body 20 extending from the internal face 18 to the external face 19. The connector 33 is integral with the body 20.

[0089] The connector 33 illustrated in Figures 4 to 7 is an electronic card. Alternatively, any type of waterproof connector suitable for transmitting electrical power and data by electrical signals is possible for the connector 33, for example the connector 33 may be a waterproof connector marketed by the company Souriau.

[0090] A seal 34 ensures sealing between the connector 33 in the tubular body 20, the through opening of the tubular body 20 being thus sealed. seal 34 may be formed by pouring silicone into the space between connector 33 and body 20.

[0091] The body 20 comprises an internal guide portion 35 and an external guide portion 36 extending at the periphery of the connector 33, projecting from the internal face 18 and the external face 19, respectively. The internal 35 and external 36 guide portions have the shape of a split sleeve.

[0092] The connector 33 is configured to transmit electrical signals between the robotic arm 6 and the effector 7. [Fig.8] shows the robotic arm 6 electrically connected to the effector 7 via the connector 33.

[0093] The robotic arm 6 is connected to the connector 4 and comprises a female plug 37 into which the connector 33 is plugged. In the embodiment illustrated in [Fig.8], the plug 37 is soldered to an electronic card 38 of the robotic arm 6.

[0094] Similarly, the effector 7 is connected to the connector 4 and comprises a female plug 39 into which the connector 33 is plugged. In the embodiment illustrated in [Fig.8], the plug 39 is soldered to an electronic card 40 of the effector 7.

[0095] Thus, once the robotic arm 6 and the effector 7 are connected to the end piece 3, they 6, 7, are electrically connected together and the robotic arm 6 can control the effector 7.

[0096] The internal guide portion 35, respectively the external guide portion 36, mechanically protects the connector 33 during the connection of the robotic arm 6, respectively the effector 7, with the connector 4 by guiding the plug 37, respectively the plug 39.

[0097] In the embodiment illustrated in [Fig.8], it is the connector 33 which plugs into the female plugs 37 and 38. Alternatively, the plugs 37 and / or 38 may be male plugs which plug into the connector 33.

[0098] [Fig. 9] illustrates another embodiment of a protective sleeve 1 according to the present invention. The protective sleeve 1 illustrated in [Fig. 9] differs from that illustrated in FIGS. 2A and 2B in that it comprises first 41 and second 42 rotating junctions. The first rotating junction 41 is mounted on the sleeve 2 at its end 2a. The second rotating junction 42 is mounted on the sleeve 2 by dividing the latter into a proximal portion 43, extending from the first rotating junction 41 to the second rotating junction 42, and a distal portion 44, extending from the second rotating junction 42 to the closed end 2b.

[0099] The first rotating junction 41 seals the end 2a of the sleeve 2 with the proximal portion 43 while allowing infinite rotation, around the longitudinal axis of the sleeve 2, of the proximal portion 43 relative to the end 2a of the sleeve 2.

[0100] The second rotating junction 42 seals the proximal portion 43 with the distal portion 44 while allowing infinite rotation, around the longitudinal axis of the sleeve 2, of the distal portion 44 relative to the proximal portion 43.

[0101] Advantageously, the first 41 and second 42 rotating junctions increase the freedom of movement of the robotic arm 6 inserted into the protective sleeve 1. In particular, the first 41 and second 42 rotating junctions prevent the sleeve 2 from rolling up on itself during rotation of the robotic arm 6.

[0102] [Fig. 10] illustrates another embodiment of a protective sleeve 1 according to the present invention. The protective sleeve 1 illustrated in [Fig. 10] differs from that illustrated in Figures 2A and 2B in that it is free of a flange 8 and free of a bellows 13. The absence of a flange 8 and a bellows 13 simplifies the manufacture of a protective sleeve 1 according to the invention and facilitates the insertion of said protective sleeve 1 into a glove box 12. The absence of a bellows 13 also reduces the risk of a potential accumulation of contamination on the sleeve 2.

[0103] The sleeve 2, illustrated in [Fig. 10], comprises a frustoconical portion 45 at its closed end 2b. The tip ring 5 is fixed directly to the top of the frustoconical portion 45, for example by pinching as described previously for [Fig.4],

[0104] Other variants and improvements may be envisaged without departing from the scope of the invention. For example, it is conceivable that the connector 4 comprises an internal locking plate, in place of the internal pins 21, adapted to fix a manipulator arm comprising projecting pins, and / or, an external locking plate in place of the external pins 22, adapted to fix an effector comprising projecting pins, the operation of the internal and external locking plates being similar to the operation of the locking plates 25 and 29.

Claims

Claims

1. Protective sleeve (1) for inserting a manipulator arm (6) into a glove box (12), comprising: - a flexible and airtight sleeve (2), - a support ring (10) mounted in a sealed manner on an open end (2a) of the sleeve, the support ring being adapted to fix in a sealed manner the sleeve to an enclosure ring (11) of the glove box, - an end piece (3) sealingly closing the end (2b) of the sleeve opposite the open end, comprising: • an end piece ring (5) fixed relative to the sleeve, • a connector (4) fitted into the end piece ring while being movable in infinite rotation about the central axis (X) of the end piece ring, comprising an internal face (18), housed in the sleeve and configured to be fixed in a removable manner to the end of the manipulator arm, and an external face (19), arranged outside the sleeve and configured to be fixed in a removable manner to an effector (7).

2. A protective sleeve according to claim 1, a portion of the sleeve at its open end being a bellows (13).

3. Protective sleeve according to one of the preceding claims, the sleeve being translucent over at least part of its length, preferably over its entire length.

4. Protective sleeve according to one of the preceding claims, the sleeve being made of polyurethane or polyvinyl chloride.

5. Protective sleeve according to one of the preceding claims, the end piece comprising a rigid and transparent flange (8) with an outer circumference fixed in a sealed manner to the sleeve and an inner circumference fixed in a sealed manner to the end piece ring.

6. Protective sleeve according to one of claims 1 to 4, the sleeve comprising a frustoconical portion (45) at its closed end, the end ring being fixed directly to the top of the frustoconical portion.

7. Protective sleeve according to one of the preceding claims, comprising at least one rotating junction (42) sealingly joining two portions (43, 44) of the sleeve together, the two portions being movable in infinite rotation relative to each other around the longitudinal axis of the sleeve.

8. Protective sleeve according to one of the preceding claims, the connector comprising internal pins (21) projecting from the internal face and being intended to be inserted into grooves (26) hollowed out in a locking plate (25) of the manipulator arm in order to fix the manipulator arm with the connector.

9. Protective sleeve according to one of the preceding claims, the connector comprising external pins (22) projecting from the external face and being intended to be inserted into grooves (30) hollowed out in an effector locking plate (29) in order to fix the effector with the connector.

10. Protective sleeve according to one of the preceding claims, the connection comprising a connector (33) extending from the internal face to the external face in order to electrically connect the manipulator arm with the effector

11. Protective sleeve according to the preceding claim, the connector being an electronic card with tracks projecting from the internal face on the one hand and projecting from the external face on the other hand.

12. Protective sleeve according to one of the preceding claims, the end piece comprising a ball bearing (15) arranged between the connector and the end piece ring, surrounding the connector coaxially.

13. Assembly for handling elements contained in a glove box (12), comprising: - a protective sleeve (1) according to one of the preceding claims, - a manipulator arm (6) configured to be inserted into the protective sleeve by being fixed in a removable manner on the internal face (18) of the connector (4), - at least one effector (7) configured to be fixed in a removable manner on the external face (19) of the connector.

14. An assembly according to the preceding claim, the connector comprising internal pins (21) projecting from the internal face, the manipulator arm comprising a locking plate (25) comprising grooves (26) each comprising an insertion portion adapted to insert one of the internal pins and a fixing portion in the extension of the insertion portion and being adapted to fix the manipulator arm to the connector by translation of the internal pin from the insertion portion, preferably the locking plate being adapted to slide between a locking position in which the internal pins are in the fixing part of the grooves to a disengagement position in which the internal pins are in the insertion part of the grooves.

15. An assembly according to claim 13 or 14, the connector comprising external pins (22) projecting from the external face, the effector comprising a locking plate (29) comprising grooves (30) each comprising an insertion portion adapted to insert one of the external pins and a fixing portion in the extension of the insertion portion and being adapted to fix the effector to the connector by translation of the external pin from the insertion portion, preferably the locking plate being adapted to slide between a locking position in which the external pins are in the fixing portion of the grooves to a disengagement position in which the external pins are in the insertion portion of the grooves.

16. Glove box (12) comprising: - a hermetic enclosure comprising a through opening made in one of its walls, an enclosure ring (11) being fixed on the edge of the opening, - an assembly according to one of claims 13 to 15, the protective sleeve being fixed in a sealed manner to the enclosure ring, the effector being housed in the sealed enclosure.

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