System and method for moving an object

Abstract

System and Method for Moving an Object This description relates to a movement system comprising an articulated arm, a tool holder (110) connected to the articulated arm and including first electrical connection terminals (165), and a tool (130) including second electrical connection terminals (175). The tool holder (110) and the tool (130) include a mechanical connection device (200) configured to temporarily mechanically connect the tool (130) to the tool holder (110). The first electrical connection terminals (165) are electrically connected to the second electrical connection terminals (175) when the tool (130) is mechanically connected to the tool holder (110). At least one of the first electrical connection terminals (165) and one of the second electrical connection terminals (175) are configured for transmitting a radio frequency electrical signal. Figure for the abstract: Fig. 7

Description

Title of the invention: System and method for moving an object technical field

[0001] This description relates generally to a system for moving an object and a method for moving an object. Previous technique

[0002] For certain applications, an object must be moved from a first position to a second position by a movement system, the object being connected to cables for transmitting electrical signals during the movement. The object to be moved corresponds, for example, to a reader including a radio frequency antenna, a smart card including a radio frequency antenna, or a test tool including a reference radio frequency antenna, particularly for testing a reader or a smart card. At least one of the cables is then a radio frequency cable.

[0003] The displacement system may include an articulated arm and an object gripping device, including for example a suction cup or a mechanical connection device, located at one end of the articulated arm.

[0004] One disadvantage is that the cables move when the object is moved and can become entangled with the articulated arm. Another disadvantage is that the cables exert a pulling or pushing force on the object, which can cause deformation of the object during its movement or may hinder the operation of the gripping device. Furthermore, it is desirable to be able to use the movement system with objects of different dimensions. A disadvantage is that it may be difficult to design a gripping device that can be used with objects of different dimensions. Summary of the invention

[0005] An embodiment overcomes all or part of the disadvantages of known displacement systems and methods.

[0006] One embodiment provides a movement system comprising an articulated arm, a tool holder connected to the articulated arm and comprising first electrical connection terminals, and a tool comprising second electrical connection terminals, the tool holder and the tool comprising a mechanical connection device configured to temporarily mechanically connect the tool to the tool holder, the first electrical connection terminals being electrically connected to the second electrical connection terminals when the tool is mechanically connected to the tool holder, at least one of the first terminals of electrical connection and one of the second electrical connection terminals being configured for the transmission of a radio frequency electrical signal.

[0007] According to one embodiment, the tool holder includes first electrical signal transmission cables electrically connected to the first electrical connection terminals. The tool includes second electrical signal transmission cables electrically connected to the second electrical connection terminals, and the tool is intended to receive an object, at least one of the second cables being intended to be electrically connected to the object.

[0008] According to one embodiment, the tool holder comprises a first printed circuit board, the first electrical connection terminals being connected to the first printed circuit board. The tool holder comprises third electrical connection terminals connected to the first printed circuit board, the first printed circuit board being configured to transmit electrical signals between the first electrical connection terminals and the third electrical connection terminals.

[0009] According to one embodiment, the tool holder includes a first electrically conductive plate covering the first printed circuit and interposed between the first printed circuit and the tool when the tool is mechanically connected to the tool holder, and the tool holder includes a first electrical connection element of the first electrically conductive plate to the first printed circuit.

[0010] According to one embodiment, the first electrically conductive plate includes first openings for the passage, without direct physical contact, of the first electrical connection terminals or the second electrical connection terminals when the tool is mechanically connected to the tool holder.

[0011] According to one embodiment, the tool includes a second printed circuit board, the second electrical connection terminals being connected to the second printed circuit board. The tool includes fourth electrical connection terminals connected to the second printed circuit board, the second printed circuit board being configured to transmit electrical signals between the second electrical connection terminals and the fourth electrical connection terminals.

[0012] According to one embodiment, the tool includes a second electrically conductive plate covering the second printed circuit board and interposed between the second printed circuit board and the tool holder when the tool is mechanically connected to the tool holder, and the tool includes a second electrical connection element from the second electrically conductive plate to the second printed circuit board.

[0013] According to one embodiment, the second electrically conductive plate includes second openings for the passage, without direct physical contact, of the second electrical connection terminals or the first electrical connection terminals when the tool is mechanically connected to the tool holder.

[0014] According to one embodiment, the tool includes a memory.

[0015] According to one embodiment, the memory is connected to the second printed circuit board.

[0016] One embodiment also provides a displacement method implementing the displacement system described above, including the temporary mechanical connection of the tool to the tool holder from which results the electrical connection of the first electrical connection terminals to the second electrical connection terminals.

[0017] According to one embodiment, the method includes, before the temporary mechanical connection of the tool to the tool holder, the attachment of the object to the tool and the connection of one of the second cables to the object.

[0018] According to one embodiment, the object includes an antenna for transmitting / receiving electromagnetic waves. Brief description of the drawings

[0019] These features and advantages, as well as others, will be described in detail in the following description of particular embodiments, given by way of non-limiting example, in relation to the accompanying figures, among which:

[0020] [Fig.1] and [Fig.2] represent, in a partial and schematic way, an example of a system for moving an object in two successive stages of a process for moving the object;

[0021] [Fig.3] is a partial and schematic side view of an embodiment of an object displacement system;

[0022] [Fig.4] is a partial and schematic perspective view of a tool and tool holder of the displacement system of [Fig.3];

[0023] [Fig.5] is a partial and schematic front view of an end plate of the tool holder;

[0024] [Fig.6] is a partial and schematic front view of an end plate of the tool;

[0025] [Fig.7] is a partial and schematic cross-sectional view of the tool and tool holder;

[0026] [Fig. 8] is a perspective view of the electrical connection devices of the tool and the tool holder;

[0027] [Fig.9] is a partial and schematic perspective view illustrating another embodiment of electrical connection terminals;

[0028] [Fig. 10] is a partial and schematic cross-sectional view of the tool holder and tool illustrating another embodiment of the electrical connection terminals;

[0029] [Fig.1 1] and [Fig. 12] represent, in a partial and schematic way, the displacement system represented in [Fig.1] at two successive stages of a world of realization of a process of displacement of an object;

[0030] [Fig. 13] represents an embodiment of a mechanical connection device for the tool to the tool holder;

[0031] [Fig. 14] represents another embodiment of a mechanical connection device of the tool to the tool holder;

[0032] [Fig. 15] is a perspective view of another embodiment of a tool and tool holder of the displacement system of [Fig. 3] illustrating another embodiment of a mechanical connection device of the tool to the tool holder; and

[0033] [Fig. 16] and [Fig. 17] are respectively a perspective view and a perspective view with section of the mechanical connection device of the tool and the tool holder of [Fig. 15]. Description of the implementation methods

[0034] The same elements have been designated by the same reference numerals in the different figures. In particular, the structural and / or functional elements common to the different embodiments may have the same reference numerals and may have identical structural, dimensional and material properties.

[0035] For the sake of clarity, only the steps and elements useful for understanding the described embodiments have been represented and are detailed.

[0036] Unless otherwise specified, when referring to two elements connected together, this means directly connected without intermediate elements other than conductors, and when referring to two elements connected (in English "coupled") together, this means that these two elements can be connected or linked through one or more other elements.

[0037] In the following description, when reference is made to absolute position qualifiers, such as the terms "front", "back", "top", "bottom", "left", "right", etc., or relative position qualifiers, such as the terms "above", "below", "superior", "inferior", etc., or to orientation qualifiers, such as the terms "horizontal", "vertical", etc., reference is made, unless otherwise specified, to the orientation of the figures or to a system of displacement of an object in a normal position of use.

[0038] Unless otherwise specified, the expressions "approximately", "roughly", and "on the order of" mean to within 10% or 10°, preferably to within 5% or 5°.

[0039] Furthermore, here the terms "insulator" and "conductor" are considered to mean respectively "electrically insulating" and "electrically conductive".

[0040] By radio frequency signal, we mean an electrical signal whose frequency band is between 0 Hz and 1 GHz, preferably between 0 Hz and 100 MHz.

[0041] Fig. 1 and Fig. 2 represent, in a partial and schematic way, an example of a system 10 for moving an object 20 in two successive stages of a method for moving the object 20.

[0042] The displacement system 10 includes an articulated arm 12 and a gripping device 14, including for example a suction cup, located at one end of the articulated arm 12.

[0043] For certain applications, the object 20 to be moved must remain connected to electrical signal transmission cables 22 during movement, a single cable 22 being shown as an example in Figures 1 and 2. The power supply and control of the object 20 are, for example, carried out by means of the cables 22. The object 20 to be moved corresponds, for example, to a reader or a smart card including a radio frequency antenna. At least one of the cables 22 is then a radio frequency signal transmission cable, for example, a radio frequency coaxial cable.

[0044] Fig. 1 illustrates the configuration of the system 10 when the object 20 to be moved rests on a support 30 and the gripping device 14 is at a distance from the object 20. Fig. 2 illustrates the configuration of the system 10 after the articulated arm 12 has been commanded to bring the gripping device 14 into contact with the object 20, after the gripping device 14 has been commanded to temporarily fix the object 20 to the gripping device 14, and after the articulated arm 12 has been commanded to move the object 20 while the object 20 is fixed to the gripping device 14.

[0045] One drawback is that moving the object 20 causes the cables 22 to move, and their relative positions with respect to the arm 12 may not be controlled. In particular, the cables 22 may become entangled with the arm 12 during its movement. Another drawback is that the cables 22 exert a pull or push on the object 20 during its movement, which may cause deformation of the object 20 or interfere with the operation of the gripping device 14. Furthermore, it is desirable to be able to use the movement system 10 with objects 20 of different dimensions. A disadvantage is that it may be difficult to design a gripping device 14 that can be used with objects 20 of different dimensions.

[0046] Fig. 3 is a partial and schematic side view of an embodiment of a system 100 for moving an object 20.

[0047] The movement system 100 comprises a robot 101 including an articulated arm 102 and a tool holder 110 located at one end of the articulated arm 102. The movement system 100 further comprises a tool 130 capable of being temporarily connected to the tool holder 110, the tool 130 being shown connected to the tool holder 110 in [Fig. 3]. The object 20 is attached to the tool 130. According to one embodiment, The articulated arm 102 comprises several axes of rotation, for example, six axes. The arm 102 includes actuators for rotating the respective joints around their respective axes of rotation. By selectively controlling the respective actuators, the tool 130 attached to the tool holder 110 can be moved to an arbitrary three-dimensional position.

[0048] Fig. 4 is a partial and schematic perspective view of the tool 130 and the tool holder 110 of the movement system 100 of Fig. 3, the tool 130 being shown disconnected from the tool holder 110.

[0049] According to one embodiment, the tool holder 110 comprises a main body 111, for example cylindrical in shape, and an end plate 112 fixed to one end of the main body 111 and intended to be temporarily fixed to the tool 130. The main body 111 comprises a face 113, on the side opposite the end plate 112, which is fixed to the articulated arm 102.

[0050] In one embodiment, the tool 130 comprises a main body 131 and an end plate 132 attached to one end of the main body and intended to be temporarily fixed to the tool holder 110. The main body 131 comprises a face 133 on the side opposite the end plate 132. The object 20 is intended to be temporarily fixed to the face 133. In one embodiment, the tool 130 comprises a retaining device 145 for the object 20 to the face 133. Advantageously, the retaining device 145 is configured to accommodate objects 20 having different dimensions, so that the same tool 130 can be used with objects 20 having different dimensions.

[0051] Fig. 5 is a partial and schematic front view of the end plate 112 of the tool holder 110 intended to be temporarily connected to the tool 130, Fig. 6 is a partial and schematic front view of the end plate 132 of the tool 130 intended to be temporarily connected to the tool holder 110, and Fig. 7 is a partial and schematic cross-sectional view of the tool 130 and the tool holder 110, the tool 130 being shown disconnected from the tool holder 110.

[0052] According to one embodiment, the system 100 comprises a mechanical connection device 200 including a first part 201 forming part of the tool holder 110 and a second part 202 forming part of the tool 130. The first part 201 of the mechanical connection device 200 is very schematically represented by a cylindrical part in Figures 5 and 7 and the second part 202 of the mechanical connection device 200 is very schematically represented by a cylindrical recess in Figures 6 and 7. More detailed embodiments of the mechanical connection device 200 are described below.

[0053] According to one embodiment, the tool holder 110 includes electrical signal transmission cables 160, also called electrical cables 160 by the following, from face 113 to end plate 112. As an example, an electrical cable 160 is schematically represented in [Fig.3] and three electrical cables 160 are represented in [Fig.7]. The electrical cables 160 can extend through part or all of the main body 111 of the tool holder 110. The main body 111 of the tool holder 110 can include, for each electrical cable 160, a passage 114, visible in [Fig. 7], in which the electrical cable 160 is housed. The movement system 100 includes, for each electrical cable 160, a signal transmission cable 103, also called the electrical cable 103, visible in [Fig. 3], and carried by the arm 102, which is electrically connected to the electrical cable 160. At least part of the electrical cables 103 can be connected to a processing module, for example, a computer.

[0054] According to one embodiment, the tool 130 comprises electrical cables 170 for transmitting electrical signals, also referred to hereafter as electrical cables 170, from the end plate 132 to the object 20. By way of example, one electrical cable 170 is schematically shown in [Fig. 3] and two electrical cables 170 are shown in [Fig. 7]. The electrical cables 170 may extend through part or all of the main body 131 of the tool 130. The main body 131 of the tool 130 may include, for each electrical cable 170, a passage 134 in which the electrical cable 170 is housed. At least some of the electrical cables 170 are connected to the object 120.

[0055] In one embodiment, at least one of the electrical signals is a radio frequency electrical signal. The other electrical signals may include a power supply signal and a control signal. In one embodiment, at least one of the cables 160, one of the cables 170, and one of the cables 103 is a radio frequency electrical signal transmission cable, for example, a coaxial cable. In one embodiment, at least one of the cables 160, one of the cables 170, and one of the cables 103 is a USB (Universal Serial Bus) cable. In one embodiment, at least one of the cables 160, one of the cables 170, and one of the cables 103 is an I2C (Inter-Integrated Circuit Bus) connection.

[0056] According to one embodiment, not all the cables 170 of the tool 130 are connected to the object 20. According to another embodiment, the tool 130 includes an additional electronic device that is connected to one of the cables 170. The additional electronic device may be a video camera. The additional electronic device may be a human-machine interface.

[0057] According to one embodiment, the tool holder 110 includes an electrical connection device 161 configured to electrically connect and disconnect the electrical cables 160 of the tool holder 110 to elements external to the tool holder 110 and the tool 130 includes an electrical connection device 171 configured to electrically connect and disconnect the electrical cables 170 of the tool 130 to elements external to the tool 130. According to one embodiment, the electrical connection device 161 and the electrical connection device 171 are configured to connect the electrical cables 160 of the tool holder 110 to the electrical cables 170 of the tool 130 when a mechanical connection is made between the tool holder 110 and the tool 130.

[0058] According to one embodiment, as shown in [Fig. 7], the electrical connection device 161 of the tool holder 110 comprises a first printed circuit board 162 located between the main body 111 of the tool holder 110 and the end plate 112 of the tool holder 110. The printed circuit board 162 comprises two opposing main faces 163 and 164, face 163 being oriented towards the main body 111 of the tool holder 110 and face 164 being oriented towards the end plate 112 of the tool holder 110. The main body 111 of the tool holder 110 comprises a projecting peripheral rim 116 such that the main body 111, together with the printed circuit board 162, defines a cavity 117 covering a central portion of the face 163 of the printed circuit board 162.The end plate 112 of the tool holder 110 includes a projecting peripheral rim 118 such that the end plate 112, together with the printed circuit board 162, defines a cavity 119 covering a central portion of the face 164 of the printed circuit board 162. The main body 111 of the tool holder 110, the end plate 112 of the tool holder 110, and the printed circuit board 162 are held together by fastening means not shown.

[0059] Furthermore, as shown in [Fig. 7], the electrical connection device 171 of the tool 130 includes a second printed circuit board 172 located between the main body 131 of the tool 130 and the end plate 132 of the tool 130. The printed circuit board 172 comprises two opposing main faces 173 and 174, face 173 being oriented towards the main body 131 of the tool 130 and face 174 being oriented towards the end plate 132 of the tool 130. The main body 131 of the tool 130 includes a projecting peripheral rim 136 such that the main body 131, together with the printed circuit board 172, defines a cavity 137 covering a central portion of the face 173 of the printed circuit board 172. The end plate 132 of the tool 130 includes a projecting peripheral rim 138 so that the end plate 132 delimits, with the printed circuit 172, a cavity 139 covering a central part of the face 174 of the printed circuit 172.The main body 131 of the tool 130, the end plate 132 of the tool 130, and the printed circuit board 172 are held together by fastening means not shown.

[0060] Generally, each printed circuit board 162, 172 comprises an electrically insulating layer, or a stack of electrically insulating layers, and traces electrically conductive, not shown in [Fig.7], at least on one of the faces 163, 164, 173, 174 of the printed circuit 162, 172. In addition, in the case where the printed circuit 162, 172 includes electrically conductive tracks on each face 163, 164, 173, 174, it may further include electrically conductive through-vias electrically connecting conductive tracks resting on one of the faces to electrically conductive tracks resting on the other face.

[0061] In one embodiment, the electrical connection device 161 of the tool holder 110 comprises first electrical connection terminals 165 connected to the printed circuit board 162. In one embodiment, the electrical connection device 171 of the tool 130 comprises second electrical connection terminals 175 connected to the printed circuit board 172. In one embodiment, the electrical connection device 161 of the tool holder 110 comprises third electrical connection terminals 166 connected to the printed circuit board 162. In one embodiment, the electrical connection device 171 of the tool 130 comprises fourth electrical connection terminals 176 connected to the printed circuit board 172. The number of electrical connection terminals 166 is equal to the number of electrical cables 160. The number of electrical connection terminals 176 is equal to the number of electrical cables 170.Preferably, the number of electrical connection terminals 165 is equal to the number of electrical connection terminals 175.

[0062] The electrical connection terminals 165 of the tool holder 110 can be connected to the electrical connection terminals 175 of the tool 130. In one embodiment, the connection terminals 165 of the tool holder 110 open onto the end plate 112 of the tool holder 110, and the connection terminals 175 of the tool 130 open onto the end plate 132 of the tool 130. For example, six electrical connection terminals 165 are visible in [Fig. 4], nine electrical connection terminals 165 are visible in [Fig. 5], and four electrical connection terminals 165 are visible in [Fig. 7]. For example, nine electrical connection terminals 175 are visible in [Fig. 6], and two electrical connection terminals 175 are visible in [Fig. 7].

[0063] In one embodiment, each connection terminal 165 of the tool holder 110 rests on the face 164 of the printed circuit board 162, is fixed to the printed circuit board 162, and includes a portion intended to be connected to one of the connection terminals 175 of the tool 130. However, a portion of the connection terminal 165 may also pass through the printed circuit board 162 and project from the face 163 of the printed circuit board 162. In another embodiment, each connection terminal 166 of the tool holder 110 rests on the face 163 of the printed circuit board 162, is fixed to the printed circuit board 162, and includes a portion connected to one of the electrical cables 160. However, a portion of the connection terminal 166 may also pass through the printed circuit board 162 and project from the face 164 of the printed circuit board 162. The end plate 112 of the tool holder 110 includes, for each electrical connection terminal 165, a through opening 115 for the passage of the electrical connection terminal 165.

[0064] In one embodiment, each connection terminal 175 of the tool 130 rests on the face 174 of the printed circuit board 172, is fixed to the printed circuit board 172, and includes a portion for connection to one of the connection terminals 165 of the tool holder 110. However, a portion of the connection terminal 175 may also pass through the printed circuit board 172 and project from the face 173 of the printed circuit board 172. In another embodiment, each connection terminal 176 of the tool 130 rests on the face 173 of the printed circuit board 172, is fixed to the printed circuit board 172, and includes a portion connected to one of the electrical cables 170. However, a portion of the connection terminal 176 may also pass through the printed circuit board 172 and project from the face 174 of the printed circuit board 172. The end plate 132 of the tool 130 includes, for each electrical connection terminal 175, a through opening 135 for the passage of the electrical connection terminal 175.The end plate 132 of the tool 130 includes, for each electrical connection terminal 175, a through opening 135 for the passage of the electrical connection terminal 175.

[0065] The structure of each electrical connection terminal 163, 173, 164, 174 depends on the nature of the electrical signal transmitted by that electrical connection terminal. By way of example, the electrical connection terminals 163, 173, 164, 174 comprise at least one connection terminal for the transmission of a radio frequency signal, one connection terminal for the transmission of an electrical signal for powering the object 20, and one connection terminal for the transmission of a digital control signal for the object 20.

[0066] Fig. 8 is a perspective view of the electrical connection devices 161 and 171.

[0067] By way of example, eight electrical connection terminals 166 and six electrical connection terminals 176 are visible in [Fig.8]. By way of example, eleven sets of four electrical connection terminals 165 and four sets of four electrical connection terminals 175 are visible in [Fig.8].

[0068] According to one embodiment, the printed circuit board 162 includes a central through-hole 167 for the passage of the first part 201 of the mechanical connection device 200 and the printed circuit board 172 includes a central through-hole 177 for the passage of the second part 202 of the mechanical connection device 200.

[0069] The electrical connection device 161 of the tool holder 110 may further include electronic components 168 fixed to the printed circuit board 162. In [Fig. 8], the electronic components 168 are fixed to the printed circuit board 162 on the side of face 163. The electrical connection device 171 of the tool 130 may further The electronic components 178 are attached to the printed circuit board 172. In [Fig. 8], the electronic components 178 are attached to the printed circuit board 172 on the side of face 173, with only one electronic component 178 being visible. In one embodiment, at least one of the components 168 of the printed circuit board 172 corresponds to a memory.

[0070] In one embodiment, the printed circuit board 162 transmits electrical signals between the electrical connection terminals 165 and the electrical connection terminals 166. In one embodiment, the printed circuit board 162 can further process the electrical signals transmitted between the electrical connection terminals 165 and the electrical connection terminals 166. In one embodiment, the printed circuit board 172 transmits electrical signals between the electrical connection terminals 175 and the electrical connection terminals 176. In one embodiment, the printed circuit board 162 can further process the electrical signals transmitted between the electrical connection terminals 165 and the electrical connection terminals 166. The processing may include a filtering, multiplexing, or demultiplexing operation.

[0071] According to one embodiment, the connection terminals 165 and 175 have a mechanism such that the electrical connection between each connection terminal 165 and the corresponding connection terminal 175 is maintained by means of a constant pressure applied by an integrated spring.

[0072] According to one embodiment, the electrical connection between each electrical connection terminal 165 of the tool holder 110 and the corresponding electrical connection terminal 175 of the tool 130 is maintained as long as the tool 130 is mechanically connected to the tool holder 110.

[0073] Figure 9 is a partial, schematic perspective view illustrating an embodiment of an electrical connection terminal 165 and an electrical connection terminal 175. In this embodiment, four electrical connection terminals 165 are assembled in a connector 180 and four electrical connection terminals 175, intended to be connected to the four electrical connection terminals 165 of the connector 180, are assembled in a connector 190. The connectors 180 and 190 are shown in an unconnected configuration in Figure 9.

[0074] The connector 180 comprises a housing 181, made of an electrically insulating material, supporting the four electrical connection terminals 165. Each electrical connection terminal 165 comprises a cylindrical tube 182, made of an electrically conductive material, fixed to the housing 181, and a pin 183, made of an electrically conductive material, mounted for translational movement within the tube 182, a portion of which projects outward from the tube 182, and a spring, not visible, which continuously exerts a thrust on the pin 183 to move it away from the tube 182. The tube 182 extends by a pin 184, made of an electrically conductive material, on the side opposite the pin 183, the pin 184 being intended to be electrically connected to the printed circuit board 162. The connector 190 comprises four electrical connection terminals 175, each in the form of a closed-bottom tube, made of an electrically conductive material, the closed-bottom tube being intended to be electrically connected to the printed circuit board 172.

[0075] [Fig. 10] is a partial, schematic cross-sectional view of the tool holder 110 and the tool 130 illustrating another embodiment of an electrical connection terminal 165 and an electrical connection terminal 175 adapted for the transmission of a radio frequency signal. In [Fig.

[10] Screws 120 for fixing the end plate 112 to the main body 111 of the tool holder 140 are shown, the screws 120 passing through the printed circuit 162 and screws 140 for fixing the end plate 132 to the main body 131 of the tool 130 are shown, the screws 140 passing through the printed circuit 172.

[0076] In this embodiment, the end plate 112 of the tool holder 110 is made of an electrically conductive material and the end plate 132 of the tool 130 is made of an electrically conductive material. As in the embodiment illustrated in [Fig.9], the electrical connection terminal 165 comprises the cylindrical tube 182 and the pin 183 mounted movable in translation within the tube 182 and of which a part projects out of the tube 182, and the spring 185 which constantly exerts a push on the pin 183 to move it away from the tube 182. The tube 182 extends into a pin 184 on the side opposite the pin 183, the pin 184 being connected to the printed circuit 162.The electrical connection terminal 175 has the shape of a closed-bottom tube connected to the printed circuit board 172.

[0077] According to one embodiment, the printed circuit board 162 includes electrically conductive tracks 169 on the faces 163 and 164. The printed circuit board 162 may further include through-conductive vias 169' electrically connecting conductive tracks 169 resting on the face 163 to conductive tracks 169 resting on the face 164.

[0078] The tool holder 110 includes an electrically conductive deformable element 121, for example a ring spring, which bears against the end plate 112 of the tool holder 110 and against one of the conductive tracks 169 resting on the face 164 of the printed circuit board 162. The deformable element 121 thus electrically connects the end plate 112 of the tool holder 110 and the conductive track 169 of the printed circuit board 162. The printed circuit board 172 includes electrically conductive tracks 179 on the face 174. The tool 130 includes an electrically conductive deformable element 141, for example a ring spring 141, which bears against the end plate 132 of the tool 130 and against one of the conductive tracks 179. The deformable element 141 therefore electrically connects the end plate 132 of the tool 130 and the conductive track 179. According to one embodiment, the track The conductive trace 169, connected to the deformable element 121, is connected to a source with a low reference potential, for example, ground, so that the end plate 112 of the tool holder 110 is maintained at a low reference potential. The end plate 132 of the tool 130, which is in direct physical contact with the end plate 112 of the tool holder 110 when the tool 130 is attached to the tool holder 110, is also maintained at a low reference potential. The low reference potential is transmitted to the printed circuit board 172 via the conductive trace 169 connected to the deformable element 141.

[0079] In the embodiments illustrated in Figures 9 and 10, the use of the pin 183 pushed by the spring 182 advantageously ensures a reliable electrical connection between the connection terminal 165 and the connection terminal 175, particularly during movements of the arm 102 or during the occurrence of vibration, while allowing a certain flexibility of movement, i.e., a tolerance for misalignment, when the pin 183 is inserted into the closed-bottom tube forming the electrical connection terminal 175. Furthermore, the force required for inserting the pin 183 into the closed-bottom tube forming the electrical connection terminal 175 can advantageously be reduced and made compatible with the forces exerted by the actuators of the articulated arm 102.

[0080] In the embodiment illustrated in [Fig. 10], the end plates 112, 132 form the outer conductor of the radio frequency link, advantageously ensuring effective electromagnetic shielding and optimal integrity of the transmitted radio frequency signal. Furthermore, in the embodiment illustrated in [Fig. 10], the radio frequency link has an air-connected structure without a solid dielectric material between the central conductor and the outer conductor. This air-connected structure advantageously reduces signal loss and improves high-frequency performance, particularly by exhibiting low reflectance.

[0081] Figures [Fig. 11] and [Fig. 12] represent, in a partial and schematic way, the system 100 of moving object 20 in two successive steps of an embodiment of a method for moving object 20.

[0082] Figure 11 illustrates a step in which the assembly comprising object 20 to move and tool 130 rests on a support 30. Object 20 has been fixed to tool 130 and at least part of the electrical cables 170 have been connected to object 20.

[0083] Fig. 12 illustrates the configuration of the system 100 after the following steps: - actuation of the articulated arm 102 to bring the tool holder 110 into a relative position with respect to the tool 130 so that the first part 201 of the mechanical connection device 200 is in a relative position with respect to the second part 202 of the mechanical connection device 200 allowing an actuation of the mechanical connection device 200; - actuation of the mechanical connection device 200 to create a mechanical connection between the first and second parts 201 and 202 of the mechanical connection device 200. The tool 130 is then mechanically connected to the tool holder 110. The mechanical connection between the first and second parts 201 and 202 of the mechanical connection device 200 also creates an electrical connection from the electrical connection terminals 165 of the tool holder 110 to the electrical connection terminals 175 of the tool 130; and - actuation of the articulated arm 102 to move the tool 130 while the object 20 is fixed to the tool 130 in a final position.

[0084] When the tool 130 is connected to the tool holder 110, electrical signals can be transmitted to the object 20 via the electrical cables 160, 170, and 103, or electrical signals emitted by the object 20 can be collected via the electrical cables 160, 170, and 103. For example, when the object 20 includes a radio frequency antenna, the antenna can be configured when the tool 130, to which the object 20 is connected, is connected to the tool holder 110. In one embodiment, when the tool 130 includes an additional electronic device, for example, a video camera and / or a human-machine interface, data provided by the additional electronic device can be collected via the electrical cables 160, 170, and 103.

[0085] In one embodiment, the printed circuit board 172 includes a memory. The electrical connection between the tool holder 110 and the tool 130 enables the memory to be controlled for reading the data stored in it. In one example, an identifier for the tool 130 can be stored in the memory. In another example, mechanical offset compensation settings can be stored in the memory.

[0086] When the tool 130 needs to be removed from the arm 102 of the robot 101 while it is attached to the tool holder 110, the mechanical connection device 200 is actuated to cause a mechanical disconnection between the first and second parts 201 and 202 of the mechanical connection device 200. The tool 130 is then mechanically disconnected from the tool holder 110. The mechanical disconnection between the first and second parts 201 and 202 of the mechanical connection device 200 causes an electrical disconnection of the electrical connection terminals 165 of the tool holder 110 from the electrical connection terminals 175 of the tool 130.

[0087] An advantage of the embodiment of the method for moving object 20 described above is that the electrical cables 160 and 170 remain stationary relative to the tool holder 110 and the tool 130 during the movement of object 20. Only the electrical cable 103 can move or deform relative to the articulated arm 102 during the actuation of the articulated arm 102. However, as the electrical cable 103 is carried by the articulated arm 102, the relative positions between the electrical cable 103 and the articulated arm 102 are known for all positions of the articulated arm 102. In addition, advantageously, the cables 170 do not exert forces on the object 20 during the movement of the object 20 which could cause deformation of the object 20.

[0088] According to one embodiment, the mechanical connection device 200 allows the tool 130 to be placed on the tool holder 110 automatically or manually by an operator.

[0089] According to one embodiment, the first part 201 of the mechanical connection device 200 located in the tool holder 110 includes a cam actuated by an actuator present in the tool holder 110 or the articulated arm 102 or actuated by the kinematics of the articulated arm 102 to which the tool holder 110 is attached.

[0090] Fig. 13 represents one embodiment of the mechanical connection device 200.

[0091] The first part 201 of the mechanical connection device 200 comprises a part 203 mounted to rotate movably relative to the main body 111 of the tool holder 110, shown schematically, about an axis D and comprising a tubular portion having an internal thread 204. The part 203 can be rotated relative to the main body 111 of the tool holder 110 by an actuator, not shown. The first part 201 of the mechanical connection device 200 further comprises a part 205 fixed relative to the part 203. The part 205 comprises at least one pin 206 extending along the axis D, two pins 206 being shown in [Fig. 13]. The second part 202 of the mechanical connection device 200 includes a tubular part 207 having an external thread 208. The tubular part 207 is mounted freely in rotation relative to the main body 131 of the tool 130, not shown.The second part 202 of the mechanical connection device 200 further comprises a cylindrical central piece 210, disposed in the tubular piece 207 and movable in translation relative to the tubular piece 207. A spring 211 is interposed between the tubular piece 207 and the central piece 211 abutting the tubular piece 207. The central piece 210 comprises a flange 212 having an opening 213 for each pin 206.

[0092] The operation of the mechanical connection device 200 of [Fig. 12] is as follows. To achieve the mechanical connection of the tool 130 to the tool holder 110, the tool holder 110 is brought closer to the tool 130 until the pins 206 enter the openings 213 and the part 205 comes to rest against the central part 210, which then compresses the spring 211. The part 203 is then rotated about the axis D so that the thread 204 cooperates with the thread 208, thus blocking the movement of the first part 201 of the mechanical connection device 200 relative to the second part 202 of the mechanical connection device 200. To achieve the mechanical disconnection of the tool 130 from the tool holder 110, the part 203 is rotated about the axis D so that the thread 204 disengages from the thread 208. The tool holder 110 is then moved away from the tool 130 until the pins 206 are disengaged from the openings 213.

[0093] Fig. 14 represents another embodiment of the mechanical connection device 200.

[0094] The first part 201 of the mechanical connection device 200 comprises a part 215 mounted to move in translation relative to the main body 111, schematically represented, of the tool holder 110 along an axis D' and comprising a rod 216 having a notch 217. The second part 202 of the mechanical connection device 200 comprises a tubular part 218 mounted to rotate freely relative to the main body 131 of the tool 130, not shown. The tubular part 218 comprises an internal opening 220. The second part 202 of the mechanical connection device 200 further comprises a cylindrical central part 221, disposed in the internal opening 220 of the tubular part 218 and movable in translation relative to the tubular part 218. A spring 222 is interposed between the tubular part 218 and the central part 221.The second part 202 of the mechanical connection device 200 further includes balls 223 between the cylindrical central piece 221 and the rod 216. Under the action of the spring 222, the cylindrical central piece 221 constantly exerts a thrust on the balls 223 towards the rod 216. An actuator, not shown, allows the cylindrical central piece 221 to be moved relative to the tubular piece 218 in order to compress the spring 222.

[0095] The operation of the mechanical connection device 200 of [Fig. 14] is as follows. To achieve the mechanical connection of the tool 130 to the tool holder 110, the tool holder 110 is brought closer to the tool 130 until the rod 216 enters the internal opening 220 and the notch 217 is aligned with the balls 223. Under the action of the spring 222, the balls 223 enter the notch 223 and prevent the first part 201 of the mechanical connection device 200 from moving relative to the second part 202 of the mechanical connection device 200. To achieve the mechanical disconnection of the tool 130 from the tool holder 110, the cylindrical central piece 221 is moved relative to the tubular piece 218 to compress the spring 222. The cylindrical central piece 221 then no longer exerts pressure on the balls 223. The tool holder 110 is then moved away. of tool 130 until rod 216 is removed from central opening 220.

[0096] Fig. 15 is a perspective view of another embodiment of a tool 130 and a tool holder 110 of the displacement system 100 of Fig. 3, illustrating in particular another embodiment of the mechanical connection device 200, and Fig. 16 and Fig. 17 are respectively a perspective view and a perspective view with section of the tool holder 110 and part of the tool 130 of Fig. 15. In figures 15, 16, 17, the tool 130 is shown disassembled from the tool holder 110. The tool 130 and the tool holder 110 have substantially the same structure as that described previously in relation to figures 7 and 10.

[0097] As with the embodiment illustrated in [Fig.7], the tool holder 110 comprises the main body 111, the end plate 112, and the printed circuit board 162, visible in [Fig.17], the printed circuit board 162 being sandwiched between the main body 111 and the end plate 112. The first part 201 of the mechanical connection device 200 comprises a cylindrical element 225, visible in [Fig. 17], which is integrated into the main body 111 of the tool holder 110 and which extends along an axis D". The first part 201 further comprises two clamps 226, arranged on either side of the axis D", each clamp 226 being pivotally mounted relative to the main body 111 of the tool holder 110 about an axis of rotation orthogonal to the axis D", the axes of rotation of the clamps 226 being parallel.The first part 201 further comprises, for each collet 226, an elastic return means, not shown, for example a helical spring, having one end connected to the main body 111 and one end connected to the collet 226 which constantly exerts a tension on the collet 226 which tends to bring it closer to the main body 111. The first part 201 further comprises a centering finger 227 which is integrated into the main body 111 of the tool holder 110 and which extends along an axis parallel to the axis D.

[0098] According to one embodiment, the main body 131 of the tool 130 is divided into a first main body part 131A and a second main body part 13IB, the second main body part 13IB being shown only in [Fig. 15]. The second part 202 of the mechanical connection device 200 is located on the first main body part 131A. The object 20 is attached to the second main body part 13IB of the tool 130. The second main body part 13IB is connected to the first main body part 131A by a detachable link. This advantageously allows the same first main body part 131A to be used and the second main body part 13IB to be changed depending on the object 20 to be moved.According to one embodiment, the second main body part 13 IB comprises two opposing grooves 142 and the first main body part 131A comprises two fins 143 configured to enter the grooves 142 when the second main body part 13 IB is assembled onto the first main body part 131 A. The second main body part 13 IB further comprises a rim 144.

[0099] As in the embodiment illustrated in [Fig. 7], the tool 130 comprises the end plate 132 and the printed circuit board 172, the printed circuit board 172 being sandwiched between the first main body part 131A and the end plate 132. The second part 202 of the mechanical connecting device 200 comprises a cylindrical opening 230 with axis D, which is integrated into the first main body part 131A and is configured to cooperate with the cylindrical element 225 of the main body 111 of the tool holder 110. The second part 202 of the mechanical connection device 200d further includes two protrusions 231, only one protrusion 231 being visible in [Fig. 16], integrated into the first main body part 131A and projecting on either side of the axis D. The first main body part 131A further includes a recess 232 extending along one side of the first main body part 131A in a direction parallel to the axis D.

[0100] The operation of the mechanical connection device 200 of figures 15, 16, and 17 is as follows. To achieve the mechanical connection of the tool 130 to the tool holder 110, the second part 202 of the mechanical connection device 200 is brought closer to the first part 201 of the mechanical connection device 200 until the cylindrical element 225 of the main body 111 of the tool holder 110 enters the tubular element 130 of the first part of the main body 131A, and the centering finger 227 of the main body 111 of the tool holder 110 enters the recess 232 of the first part of the main body 131A of the tool 130. The relative angular orientation between the tool 130 and the tool holder 110 about the axis D" is thus fixed. The tool 130 and the tool holder 110 are then brought closer together until the rim 144 of the second part of the main body 13 IB comes into contact with the clamps 226.The shape of the rim 144 and the clamps 236 is such that by bringing the second part 202 closer to the first part 201, the rim 144 causes the clamps 226 to pivot relative to the main body 111 of the tool holder 110, which allows each protrusion 231 to be sandwiched between one of the clamps 226 and the main body 111 of the tool holder 110. The tool 130 and the tool holder 110 are then brought even closer to each other until the clamps 226 pass the rim 144 of the second part of the main body 13 IB. The action of the springs then keeps the clamps 226 pressed against the protrusions 231 and the movement of the second part 202 of the mechanical connection device 200 relative to the first part 201 of the mechanical connection device 200 is blocked.To achieve mechanical disconnection of the tool 130 from the tool holder 110, the clamps 226 are rotated, either manually or by means of an actuator not shown, to release the protrusions 231 from the clamps 226. The second part 202 of the mechanical connection device 200 can then be moved away from the first part 201 of the mechanical connection device 200.

[0101] Various embodiments and variations have been described. A person skilled in the art will understand that certain features of these various embodiments and variations could be combined, and other variations will become apparent to a person skilled in the art.

[0102] Finally, the practical implementation of the embodiments and variants described is within the reach of a person skilled in the art, based on the functional indications given above.

Claims

Demands

1. A movement system (100) comprising an articulated arm (102), a tool holder (110) connected to the articulated arm (102) and comprising first electrical connection terminals (165), and a tool (130) comprising second electrical connection terminals (175), the tool holder (110) and the tool (130) comprising a mechanical connection device (200) configured to temporarily mechanically connect the tool (130) to the tool holder (110), the first electrical connection terminals (165) being electrically connected to the second electrical connection terminals (175) when the tool (130) is mechanically connected to the tool holder (110), at least one of the first electrical connection terminals (165) and one of the second electrical connection terminals (175) being configured for the transmission of a radio frequency electrical signal.

2. A movement system according to claim 1, wherein the tool holder (110) comprises first electrical signal transmission cables (160) electrically connected to the first electrical connection terminals (165), wherein the tool (130) comprises second electrical signal transmission cables (170) electrically connected to the second electrical connection terminals (175), and wherein the tool (130) is intended to receive an object (20), at least one of the second cables (170) being intended to be electrically connected to the object (20).

3. A movement system according to claim 2, wherein the tool holder (110) comprises a first printed circuit board (162), wherein the first electrical connection terminals (165) are connected to the first printed circuit board (162), and wherein the tool holder (110) comprises third electrical connection terminals (166) connected to the first printed circuit board (162), the first printed circuit board (162) being configured to transmit electrical signals between the first electrical connection terminals (165) and the third electrical connection terminals (166).

4. A displacement system according to claim 3, wherein the tool holder (110) comprises a first electrically conductive plate (112) covering the first printed circuit board (162) and interposed between the first printed circuit board (162) and the tool (130) when the tool (130) is mechanically connected to the tool holder (110), and wherein the tool holder (110) includes a first electrical connection element (121) from the first electrically conductive plate (112) to the first printed circuit board (162).

5. A movement system according to claim 4, wherein the first electrically conductive plate (112) includes first openings (115) for the passage, without direct physical contact, of the first electrical connection terminals (165) or the second electrical connection terminals (166) when the tool (130) is mechanically connected to the tool holder (110).

6. A displacement system according to any one of claims 2 to 5, wherein the tool (130) comprises a second printed circuit board (172), wherein the second electrical connection terminals (175) are connected to the second printed circuit board (172), and wherein the tool (130) comprises fourth electrical connection terminals (176) connected to the second printed circuit board (172), the second printed circuit board (172) being configured to transmit electrical signals between the second electrical connection terminals (175) and the fourth electrical connection terminals (176).

7. A movement system according to claim 6, wherein the tool (130) comprises a second electrically conductive plate (132) covering the second printed circuit board (172) and interposed between the second printed circuit board (172) and the tool holder (110) when the tool (130) is mechanically connected to the tool holder (110), and wherein the tool (130) comprises a second electrical connection element (141) of the second electrically conductive plate (132) to the second printed circuit board (172).

8. Displacement system according to claim 7, wherein the second electrically conductive plate (132) includes second openings (135) for the passage, without direct physical contact, of the second electrical connection terminals (166) or the first electrical connection terminals (165) when the tool (130) is mechanically connected to the tool holder (110).

9. Displacement system according to any one of claims 1 to 8, wherein the tool (130) includes a memory (178).

10. Displacement system according to claim 9 in its connection with claim 6, wherein the memory (178) is connected to the second printed circuit (172).

11. A method of displacement implementing the displacement system (100) according to any one of claims 1 to 10, comprising the temporary mechanical connection of the tool (130) to the tool holder (110) from which results the electrical connection of the first electrical connection terminals (165) to the second electrical connection terminals (175).

12. A method of movement according to claim 11, wherein the movement system (100) is according to claim 2, comprising, before the temporary mechanical connection of the tool (130) to the tool holder (110), the attachment of the object (20) to the tool (130) and the connection of one of the second cables (170) to the object (20).

13. A method of displacement according to claim 12, wherein the object (20) comprises an electromagnetic wave transmitting / receiving antenna.