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 to an effector housed within 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 connection (4) for removably attaching and connecting the manipulator arm, inserted into the protective sleeve, to an effector (7) housed within 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 airtight insertion of an arm into a glove box in order to manipulate elements contained within the confined space of the glove box. Previous technique

[0002] A glove box is a hermetically sealed enclosure, at least one of whose walls is transparent, the hermetically sealed enclosure being suitable for handling substances and objects in a controlled atmosphere. Glove boxes are particularly useful 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 has at least one through-opening in one of its walls, in which a flexible sleeve is intended to be sealed, in order to access the products and equipment 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 contents of the enclosure can be handled.

[0004] Usually, a soft sleeve is a glove designed to receive an operator's hand. However, handling items 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 thus expose the operator to the harmful elements contained within. In particular, there is a risk of puncturing the glove during handling.

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

[0007] Furthermore, certain tasks involving the handling of items contained in a glove box by an operator are tedious, for example, maintenance tasks preventive and cleaning. Performing 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 disadvantages, a manipulator arm, for example a robotic arm or a slave arm of a telemanipulator, can be used for the manipulation of elements contained in a glove box.

[0009] However, standard glove boxes are not suitable for housing a manipulator arm entirely within their enclosure. In particular, the interior of glove boxes is generally cramped and can be cluttered with numerous objects. Furthermore, a manipulator arm may not be suitable for withstanding the confined atmosphere of glove boxes, which can be corrosive, dusty, and / or radioactive. Moreover, maintaining a manipulator arm housed 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 applicable, a protective sleeve for the manipulator arm, in order to manipulate the elements inside the glove box.

[0011] Like a glove, the protective sleeve ensures the maintenance of a controlled atmosphere within the glove box by forming a hermetic barrier between the inside of the box and the manipulator arm. Furthermore, 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 robotic arm's effector, in the form of a gripper, within the protective sleeve. The protective sleeve is therefore only suitable for use with a gripper as the robotic arm's effector.

[0013] When handling an element contained within the confined space of a glove box, the protective sleeve described by WO 2021 / 053598 A1 forms a barrier between the end effector and the element, which reduces the sensitivity and dexterity of the end effector. In particular, the quality of the force feedback from the end 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 it and thus of breaching the controlled atmosphere. Similarly, the protective sleeve can be deformed by the end effector, for example, pinched or marked, which could puncture it.

[0014] Furthermore, by completely covering the robotic arm and the end effector, the protective sleeve described by WO 2021 / 053598 A1 greatly restricts the freedom of movement of the robotic arm and the end effector. In particular, the protective sleeve rotates simultaneously with the end effector when the latter rotates around its longitudinal axis relative to the rest of the robotic arm, this rotation being very useful for screwing and unscrewing actions. This wrapping 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 to the end of the protective bellows with an actuation mechanism housed within the protective bellows. Thus, the robotic arm can be inserted into the protective bellows and connect with the actuation mechanism so as to control the movements of the gripper within the glove box.

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

[0017] There is therefore a need for improvement of the protective sleeves for the watertight insertion of a manipulator arm into a glove box, in particular which overcomes the aforementioned disadvantages.

[0018] The object of the invention is to meet, at least in part, this need(s). Description of the invention

[0019] To this end, 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 mounted in a watertight manner on an open end of the sleeve, the support ring being adapted to fix the sleeve in a watertight manner to a ring on the glove box enclosure, - a nozzle sealing the end of the sleeve opposite the open end, comprising: • a fixed end cap ring relative to the sleeve, • a fitting fitted into the tip ring and being mobile in infinite rotation around the central axis of the tip ring, having an inner face, housed in the sleeve and configured to be removably attached to the end of the manipulator arm, and an outer face, arranged outside the sleeve and configured to be removably attached to an effector.

[0020] The term "manipulator arm" refers to an articulated mechanical arm for manipulating items contained in the glove compartment, the arm being controlled manually or by computer. In particular, the manipulator arm can be remotely operated, remotely 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] The term "effector" refers to 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 gripper, or a 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, of preference along its entire length.

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

[0025] Preferably, the nozzle comprises a rigid, transparent flask with a outer perimeter fixed in a watertight manner to the sleeve and an inner perimeter fixed in a watertight manner to the end ring.

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

[0027] Preferably, the protective sleeve includes at least one rotating joint sealing two portions of the sleeve together, the two portions being mobile in infinite rotation relative to each other around the longitudinal axis of the sleeve.

[0028] Preferably, the fitting includes internal pins projecting from the inner face and intended to fit into grooves cut into a locking plate of the manipulator arm in order to fix the manipulator arm with the fitting.

[0029] Preferably, the fitting includes external pins projecting from the external face and intended to fit into grooves cut into an effector locking plate in order to fix the effector with the fitting.

[0030] Preferably, the fitting includes 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 board with tracks protruding from the inner face on one side and protruding from the outer face on the other.

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

[0033] The present invention also relates to an assembly for handling items 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 inner face of the fitting, - at least one effector configured to be removably attached to the face external to the fitting.

[0034] Preferably, the fitting includes internal pins projecting from the inner face, the manipulator arm including a locking plate having grooves each having an insertion part adapted for inserting one of the internal pins and a fixing part in the extension of the insertion part and being adapted to fix the manipulator arm to the fitting by translation of the internal pin from the insertion part, 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.

[0035] Preferably, the fitting includes external pins projecting from the external face, the effector including a locking plate having grooves each having an insertion part adapted for inserting one of the external pins and a fixing part in the extension of the insertion part and being adapted to fix the effector to the fitting by translation of the external pin from the insertion part, preferably the locking plate being adapted to slide between a locking position in which the external pins are in the fixing part of the grooves to a disengagement position in which the external pins are in the insertion part of the grooves.

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

[0037] The present invention therefore essentially consists of a protective sleeve comprising a sealed fitting allowing a manipulator arm, inserted in the protective sleeve, to be fixed and connected in a removable manner with an effector, housed in the confined enclosure of a glove box.

[0038] The invention thus eliminates the need for an enclosure around the end effector that forms a barrier between the elements to be manipulated and the end effector. The sensitivity and dexterity of the end effector are therefore not diminished, and the risks of tearing the protective sleeve and thus breaching the hermetic enclosure are minimized.

[0039] Furthermore, the protective sleeve according to the invention allows for the easy connection of a manipulator arm with various effectors while maintaining the airtightness 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 in 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 the handling of elements contained in the glove box, as only the protective sleeve and the effector need to be considered disposable waste after handling. Furthermore, the protective sleeve according to the invention is made of materials compatible with the treatment of conventional nuclear waste; in particular, it is aluminum-free.

[0041] Furthermore, the protective sleeve allows maximum freedom of movement for the manipulator arm embedded within it. In particular, the protective sleeve does not impede the 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 any modification of the latter for the installation of the protective sleeve. In particular, the mounting of the sleeve and the support ring in a housing ring can be similar to existing mounting methods for a glove in the opening of a glove box. Specifically, it can conform to 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 other protective sleeve without breaking the containment of the controlled atmosphere. Brief description of the drawings

[0044] Other advantages and features will become clearer upon reading the detailed description, given by way of illustration and not limitation, with reference to the following figures:

[0045] [Fig.1] Fig.1 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 into it and connected to an effector in the form of a gripper.

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

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

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

[0050] [Fig. A] [Fig. A] is a longitudinal cross-sectional view of the end of a sleeve protection according to the invention with a robotic arm and an effector connected to the fitting of the nozzle, the locking plates of the robotic arm and the effector being in the locking position of the connection.

[0051] [Fig.6B] Fig.6B is a longitudinal sectional view of an end piece of a protective sleeve according to the invention with a robotic arm and an effector connected to the fitting of the end piece, 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 fitting.

[0052] [Fig.7] The [Fig.7] is a cross-sectional view of the connection of an effector with the end 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 an end piece of a protective sleeve according to the invention connected with a robotic arm and an effector, the end piece, 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 inserted into it, the protective sleeve comprising a rotating joint.

[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 end ring being fixed directly to the top of the frustoconical portion. Detailed description

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

[0057] A protective sleeve 1 according to the present invention is illustrated in [Fig. 1]. The protective sleeve 1 comprises a flexible and airtight sleeve 2 open at its end 2a and closed at its other end 2b.

[0058] The flexibility of the sleeve 2 allows it to move freely with a manipulator arm. In particular, the sleeve 2 can be made of polyurethane or polyvinyl chloride. These materials, in addition to being flexible and airtight, have the advantage of good tear resistance.

[0059] Preferably, sleeve 2 is translucent. This allows observation of the manipulator arm inserted into sleeve 2, facilitating its control and manipulation. In particular, an operator can better understand the joint configuration of the manipulator arm during teleoperation.

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

[0061] The protective sleeve 1 also includes an end cap 3 sealing the end 2b of the sleeve 2. The end cap 3 includes a fitting 4 which is sealed into an end cap ring 5 and is rotatable about the central axis of the end cap ring 5.

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

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

[0064] The tip 3 also includes a flange 8 whose outer perimeter is fixed in a sealed manner to the end 2b of the sleeve 2 and whose inner perimeter fixes the tip 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 clear. Thus, the robotic arm 6 can include a camera module 9 at its end connected to the fitting 4 to observe the inside of the glove box 12 through the flange 8.

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

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

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

[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 By extending or retracting, the robotic arm 6 can be moved forward or backward within the glove box 12 without risk of tearing the sleeve 2. The robotic arm 6 can thus be inserted more or less deeply into the glove box 12 depending on the desired manipulation operation. Therefore, for an operation to be performed at varying depths within the glove box 12, i.e., closer to or further from the wall, only certain axes of the robotic arm 6 can be inserted, similar to how an operator might insert only their hand and wrist or their entire arm up to the shoulder into a glove box, depending on the depth of the operations to be performed.

[0070] In addition, the bellows 13 increases the freedom of movement of the robotic arm 6 inserted in the protective sleeve 1. The bellows 13 also prevents excessive tension on 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 fitting 4, which is press-fitted into the end piece ring 5, itself 5 being press-fitted to the flange 8. In particular, the end piece ring 5 is fixed to the flange 8 by clamping it with a nut 14. Alternatively, the end piece ring 5 can be fixed directly onto the sleeve 2 in a similar manner, or the sleeve 2 can include a bead housed and compressed within the end piece ring 5.

[0072] The fitting 4 is free to rotate infinitely relative to the end ring 5 around its central axis X. In particular, the end 3 includes a sealed ball bearing 15 arranged between the fitting 4 and the end ring 5. A ring 16 surrounds the fitting 4 to retain the ball bearing 5 against the stop. O-rings 17 ensure sealing between the fitting 4 and the ball bearing 15 and between the ball bearing 15 and the end ring 5.

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

[0074] As illustrated in Figures 6A, 6B and 7, the internal pins 21 allow the end of the robotic arm 6 to be removably fixed to the inner face 18 of the fitting 4, and the external pins 22 allow the end effector to be removably fixed 7 on the outer face 19 of the fitting 4.

[0075] The robotic arm 6 includes a locking plate 25 mounted to slide at its end. The locking plate 25 includes through grooves 26. Each groove 26 includes an insertion portion with a cross-section wider than that of the internal pins 21 and a fixing portion extending from the insertion portion and whose cross-section is complementary to the radial groove 24 of the internal pins 21.

[0076] Thus, the internal pins 21 can engage in the grooves 26 through the insertion portion, and 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 groove fixing portion 26. Once abutted in the groove fixing portion 26, the internal pins 21 are locked by the locking plate 25. The robotic arm 6 is then attached to the fitting 4. Figure 6A illustrates the locking plate 25 in its position of locking the internal pins 21 abutted in the groove fixing portion 26.

[0077] The robotic arm 6 also includes a helical spring 27 which maintains the locking plate 25 in the locked position by means of a restoring force, i.e. with the internal pins 21 inserted against the stop in the fixing part of the grooves 26. The helical spring 27 thus ensures the locking of the internal pins 21 by the locking plate 25.

[0078] The internal pins 21 are released 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 attached to the fitting 4.

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

[0080] Figure 6B illustrates the locking plate 25 in its position of 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 includes a locking plate 29 mounted to slide at one of its ends. The locking plate 29 includes through grooves 30. Each groove 30 includes an insertion portion with a cross-section larger than that of the external pins 22 and a fixing portion extending from the insertion portion and whose cross-section is complementary to the radial groove 24 of the external pins 22.

[0082] Thus, the external pins 22 can engage in the grooves 30 through the insertion portion, and 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 groove fixing portion 30. Once abutted in the groove fixing portion 30, the external pins 22 are locked by the locking plate 29. The effector 7 is then fixed to the fitting 4. Figures 6A and 7 illustrate the locking plate 29 in its position of locking the external pins 22 abutted in the groove fixing portion 30.

[0083] The effector 7 also includes a helical spring 31 which maintains the locking plate 29 in the locked position by means of a return force, i.e. with the external pins 22 inserted against the stop in the fixing part of the grooves 30. The helical spring 31 thus ensures the locking of the external pins 22 by the locking plate 29.

[0084] The release 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 fitting 4.

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

[0086] Figure 6B illustrates the locking plate 29 in its position of compressing the helical spring 31 with the external pins 22 in the insertion part of the grooves 30. 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 include an effector holder station on which several different effectors can be placed and to facilitate the assembly of an effector 7 with the fitting 4.

[0088] As illustrated in figures 4 to 7, the fitting 4 also includes a connector 33 housed in the through opening of the tubular body 20 extending from the inner face 18 to the outer face 19. The connector 33 is integral with the body 20.

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

[0090] A seal 34 ensures a tight seal between the connector 33 and the tubular body 20, thus sealing the through opening of the tubular body 20. joint 34 can 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 around the periphery of the connector 33, projecting from the internal face 18 and the external face 19, respectively. The internal guide portions 35 and external guide portions 36 have the shape of a split sleeve.

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

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

[0094] Similarly, the effector 7 is connected to the fitting 4 and includes a female plug 39 into which the connector 33 is inserted. In the embodiment illustrated in [Fig.8], the plug 39 is soldered to an electronic board 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 when connecting the robotic arm 6, respectively the effector 7, with the fitting 4 by guiding the plug 37, respectively the plug 39.

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

[0098] Figure 9 illustrates another embodiment of a protective sleeve 1 according to the present invention. The protective sleeve 1 illustrated in Figure 9 differs from that illustrated in Figures 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 in the protective sleeve 1. In particular, the first 41 and second 42 rotating junctions prevent the sleeve 2 from wrapping around itself during a rotation of the robotic arm 6.

[0102] Figure 10 illustrates another embodiment of a protective sleeve 1 according to the present invention. The protective sleeve 1 illustrated in Figure 10 differs from that illustrated in Figures 2A and 2B in that it is free of a flange 8 and 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 potential contamination accumulation on the sleeve 2.

[0103] The sleeve 2, illustrated in [Fig. 10], comprises a frustoconical portion 45 at its closed end 2b. The end 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 variations and improvements can be envisaged without departing from the scope of the invention. For example, it is conceivable that the fitting 4 could include an internal locking plate, instead of the internal pins 21, adapted to fix a manipulator arm comprising protruding pins, and / or, an external locking plate instead of the external pins 22, adapted to fix an effector comprising protruding pins, the operation of the internal and external locking plates being similar to the operation of the locking plates 25 and 29.

Claims

Demands

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 hermetic manner on an open end (2a) of the sleeve, the support ring being adapted to fix the sleeve in a hermetic manner to an enclosure ring (11) of the glove box, - an end cap (3) sealing in a hermetic manner the end (2b) of the sleeve opposite the open end, comprising: • an end cap ring (5) fixed relative to the sleeve, • a fitting (4) fitted into the end cap ring and being movable in infinite rotation about the central axis (X) of the end cap ring, having an inner face (18), housed in the sleeve and configured to be removably attached to the end of the manipulator arm, and an outer face (19), arranged outside the sleeve and configured to be removably attached to an effector (7).

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

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

5. Protective sleeve according to any one of the preceding claims, the tip comprising a rigid and transparent flange (8) with an outer perimeter fixed hermetically to the sleeve and an inner perimeter fixed hermetically to the tip ring.

6. Protective sleeve according to any 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 any one of the preceding claims, comprising at least one rotating joint (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 any one of the preceding claims, the fitting comprising internal pins (21) projecting from the inner face and intended to fit into grooves (26) cut into a locking plate (25) of the manipulator arm in order to fix the manipulator arm with the fitting.

9. Protective sleeve according to any one of the preceding claims, the fitting comprising external pins (22) projecting from the external face and intended to fit into grooves (30) cut into an effector locking plate (29) in order to fix the effector with the fitting.

10. Protective sleeve according to any one of the preceding claims, the fitting comprising a connector (33) extending from the inner face to the outer 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 board with tracks protruding from the inner face on one side and protruding from the outer face on the other.

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

13. Assembly for handling items contained in a glove box (12), comprising: - a protective sleeve (1) according to any one of the preceding claims, - a manipulator arm (6) configured to fit into the protective sleeve by removably attaching to the inner face (18) of the fitting (4), - at least one effector (7) configured to removably attach to the outer face (19) of the fitting.

14. Assembly according to the preceding claim, the fitting comprising internal pins (21) projecting from the inner face, the manipulator arm comprising a locking plate (25) comprising grooves (26) each having an insertion portion adapted for inserting one of the internal pins and a fixing portion extending from the insertion portion and adapted for fixing the manipulator arm to the fitting 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 part of the groove fixing up to a disengagement position in which the internal pins are in the groove insertion part.

15. Assembly according to claim 13 or 14, the fitting comprising external pins (22) projecting from the external face, the effector comprising a locking plate (29) comprising grooves (30) each having an insertion portion adapted for inserting 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 fitting 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 formed in one of its walls, an enclosure ring (11) being fixed to the edge of the opening, - an assembly according to any one of claims 13 to 15, the protective sleeve being hermetically fixed to the enclosure ring, the effector being housed in the hermetically sealed enclosure.

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