SUPPORT DEVICE FOR A PORTABLE TOOL

Abstract

The invention relates to a support device for a handheld tool, said device comprising: – a main support structure which includes a fixing structure configured to suspend said device; – a tool support element which is connected to said main support structure by a connecting axis, said support element being configured to pivot about at least two horizontal axes; – at least one camera configured to film the gripping of the handheld tool by an operator;said device being configured to analyze the images filmed by said at least one camera and to detect ergonomically inadequate postures based on the analyzed images, characterized in that said portable tool support element comprises at least two flange-forming parts which are configured to clamp said tool, said support element comprising a guide rail cooperating mechanically with the connecting axis, the mechanical cooperation between the guide rail and the connecting axis (being configured to allow rotation of the support element around said two horizontal axes. Abbreviated figure: [Fig. 1];

Description

Title of the invention: SUPPORT DEVICE FOR A PORTABLE TOOL

[0001] The present invention relates to the field of motor vehicles and to tools used in the manufacture of motor vehicles. More particularly, the invention relates to the field of assistance devices designed to facilitate the handling of portable (or hand-held) tools used on a production line, for example, in the manufacture of motor vehicles.

[0002] Indeed, it is known that on automotive assembly lines, automated systems such as robotic arms are used, but also assistance devices designed to optimize the ergonomics of using handheld tools for human operators.

[0003] Automata are solutions which however have limitations in terms of flexibility and adaptability, particularly when there are changes in the manufacturing process of a vehicle, the need to program or reprogram such automata can be costly and complex.

[0004] The assistance devices, for example, are a weightless gripping system for portable tools, such devices generally comprising a tool support structure which is rotating and are supported by a suspended support via a load compensator.

[0005] Said assistance device is thus configured so that a portable tool, such as a screwdriver, can be attached to it, thereby allowing controlled rotation in all three directions of space, thus preventing the operator from bearing its weight, while minimizing the effort required from the operator.

[0006] This type of assistance device helps to limit the risks of musculoskeletal disorders and / or injuries, also improving the ergonomics of using tools mounted in such devices.

[0007] In the context of assistive devices, it is necessary to periodically evaluate the ergonomics of such devices for the operators using them, in particular to verify that said devices are fulfilling their function correctly, or to correct the configuration of the assistive devices and / or the operator's workstation to avoid positions and movements that may lead to health problems for the operator.

[0008] However, the evaluation of an assistive device, and more generally of a workstation, requires sensors that adhere, for example, to the skin of the operator or which are placed on the hand and wrist, in addition to other sensors attached to the assistance device and / or the handheld tool.

[0009] These sensors are, for example, position and motion sensors, advantageously integrated into gloves or bracelets, high-speed cameras, and devices for measuring the muscle strength or electromyographic activity of the operator.

[0010] These sensors are therefore external elements used occasionally to perform an ergonomic assessment. Unfortunately, they are expensive and complicated to implement, and can also have a negative impact on the normal execution of operations carried out by the operator at their workstation. Furthermore, such sensors can affect the operator's correct use of personal protective equipment, such as gloves.

[0011] It is therefore necessary to design a device to assist in the handling of portable tools in order to reduce the health risks of operators on production lines, while also allowing for the implementation of prevention of the risks of musculoskeletal disorders, or even injuries, of these operators.

[0012] The present invention thus aims to remedy at least one of the aforementioned drawbacks by proposing a new type of support device for a portable tool, said device comprising: - a main support structure which includes a fixing structure configured to suspend said device; - a tool support element which is connected to said main support structure by a connecting axis, said support element being configured to pivot around at least two horizontal axes; - at least one camera configured to film an operator gripping the handheld tool; said device being configured to analyze the images filmed by said at least one camera and to detect ergonomically inadequate postures based on the analyzed images, characterized in that said portable tool support element comprises at least two flange-forming parts which are configured to clamp said tool, said support element comprising a guide rail cooperating mechanically with the connecting axis, the mechanical cooperation between the guide rail and the connecting axis being configured to allow rotation of the support element around said two horizontal axes.

[0013] The support device for a portable tool according to the invention facilitates the handling of portable tools, while directly integrating at least one camera allowing continuous and real-time evaluations, without interference from elements external, operations (or movements) performed by the operator at his workstation.

[0014] It is therefore possible, while collecting data on the handling of the portable tool mounted in the device according to the invention, in particular by capturing the position of the operator's wrist, to generate detailed ergonomic reports without interfering with normal working conditions and / or to alert the operator to wrist positions likely to cause injury or musculoskeletal disorders.

[0015] Furthermore, said at least one camera is advantageously accompanied or coupled with software (for example, "artificial vision") allowing precise detection of the operator's wrist position when holding the tool, and of the movements made by the operator, as well as the analysis of associated risks.

[0016] Such software thus enables the implementation of an alarm system which signals positions or movements which may be harmful to the health of the operator, but also to carry out frequent ergonomic assessments during operations, and to issue recommendations to the operator and / or to train him to operate in more favorable ergonomic conditions, in order to prevent the occurrence of injuries or musculoskeletal disorders.

[0017] Said software is advantageously configured to analyze, by means of a machine learning algorithm, the images acquired by the camera(s), in order to evaluate the relative position of the operator's wrist with respect to the different spatial axes and thus be able to generate ergonomic reports accordingly.

[0018] According to one possible feature, said device includes an audible and / or visual alert system. Advantageously, said audible and / or visual alert system is configured to emit an audible and / or visual (e.g. light) alert to the operator when the device according to the invention detects postures or movements that present risks to the operator's health, such as inadequate postures or movements of the operator's wrist.

[0019] According to another possible feature, said main support structure comprises at least one support leg extending away from said support structure, said at least one camera being located on said at least one support leg.

[0020] Advantageously, the main support structure includes a leg which extends away from said structure, for example laterally so as not to hinder the operator when using the handheld tool mounted in the device according to the invention, and which allows said at least one camera to be attached in order to best film the gripping of the handheld tool by the operator.

[0021] According to another possible feature, said device includes a load compensator, said compensator being fixed to said main support structure, said device being configured to be suspended via the load compensator, the load compensator being configured, in the mounted position, to control the altitude of the device.

[0022] The device according to the invention is advantageously suspended by a wire or cable via the load compensator or balancer, thus allowing the operator to avoid having to exert effort in supporting the weight of the tool being handled, as well as the device according to the invention. Furthermore, the device according to the invention is configured, in its raised position, so that its height is controlled or adjusted by means of the load compensator, said load compensator also advantageously allowing for controlled vertical movements.

[0023] It should also be noted that a load compensator makes it possible to keep a portable tool suspended or levitated, by reducing, or even eliminating, the weight of the portable tool handled by the operator, thus reducing operator fatigue related to the weight of the tool during its use.

[0024] Furthermore, a load compensator allows the height of the handheld tool to be adjusted, thus facilitating access to the tool for the operator and maintaining the tool at the desired height after use. The height of the device according to the invention, and therefore of the handheld tool, is generally fixed by the compensator, with the height adjustment being achieved by an internal spring and a mechanical stop of said load compensator. Moreover, the load compensator is advantageously attached to said main support structure, for example, by means of a carabiner.

[0025] According to another possible feature, said device is configured to move in translation along the three directions of space. Advantageously, said device is for example hung or connected to a system (such as a suspended arm) allowing said device, and by extension the portable tool mounted in said device, to move horizontally and vertically.

[0026] According to another possible feature, said device comprises at least two cameras, each configured to film the gripping of the handheld tool by an operator, said cameras being configured to present complementary shooting angles.

[0027] Advantageously, the device according to the invention comprises at least two cameras configured to film the gripping of the handheld tool laterally, as well as from above or below, i.e. that the gripping of the handheld tool is filmed, for example the positions and movements of the wrist, on the one hand, from the side and, on the other hand, from above or below.

[0028] According to another possible feature, said device includes a wireless communication module, said at least one camera being configured to communicate, via said wireless communication module, the recorded data to a remote server. Having a wireless communication module eliminates the need for a wire that could hinder the operator in using the lifting device and the handheld tool mounted in said device.

[0029] The wireless communication module is advantageously fixed to the main support structure, for example, near one or more cameras. Furthermore, said wireless communication module is, for example, a Wi-Fi, Bluetooth, etc. module. It should be noted that the communication module can also be integrated directly into the camera(s) of said device.

[0030] According to another possible feature, said tool support element has at least two degrees of freedom, such as two rotational degrees of freedom. The support element is advantageously configured to have two degrees of rotational freedom (advantageously to pivot about two distinct horizontal axes), thus allowing the handheld tool to be oriented in the most suitable manner by the operator and thereby facilitating operations at the workstation. Furthermore, the support element includes independent locking means, such as wing nuts, configured to independently lock rotation or pivoting about one, the other, or both horizontal axes (here, the X and Y axes) of the support element.

[0031] According to another possible feature, said portable tool support element is configured to pivot about said connecting axis.

[0032] Advantageously, said portable tool support element, and therefore the portable tool mounted in said support element, can pivot about the axis of connection between said support element and the main structure. It should be noted that in the mounted position, said axis of connection extends substantially horizontally, the rotation of the support element thus occurring about a substantially horizontal axis. Furthermore, said portable tool support element can be configured to allow controlled orientation of said tool at predefined angles.

[0033] According to another possible feature, said portable tool support element and said connecting axis form a pivot joint, said support element being able to rotate about itself with respect to an axis substantially orthogonal to said connecting axis.

[0034] The axis substantially orthogonal to said connecting axis is also, in the mounted position of said device according to the invention, a substantially horizontal axis, the portable tool and said support element thus being able to pivot about this axis. Advantageously, said support element is configured to pivot or rotate about two distinct horizontal axes, for example axes that are substantially orthogonal to each other.

[0035] According to another possible feature, said portable tool support element comprises at least three parts: two flanged parts configured to clamp said tool and a clamping part configured to secure together said two flanged parts and the tool mounted between said two flanged parts.

[0036] This particular structure of the support element allows for a secure fixing of the portable tool in said support element, the tool and the support element thus being joined together, while allowing the positioning of portable tools having various shapes and / or sizes.

[0037] According to another possible feature, said flange-forming parts are configured to be adjustable, and thus to adapt to tools of different sizes and / or shapes.

[0038] According to another possible feature, said tool support element has a substantially annular shape, said handheld tool being disposed in the central opening of said annular shape. Advantageously, a portion of the handheld tool is positioned in the support element, at the level of the hole in the annular shape, while the gripping part and the working part are arranged on either side of the annular shape.

[0039] According to another possible feature, said tool support element includes a guide rail in which ends of the connecting shaft can slide.

[0040] According to another possible feature, said support structure comprises at least three segments arranged substantially in a U-shape.

[0041] The main support structure thus has at least three segments arranged substantially in the shape of a U. The connecting axis is, for its part, disposed at the free ends of the U, the support element therefore also being disposed between the free ends of the U, while the base of the U (that is to say the segment of the U connecting the lateral branches together) is, in the mounted position of the device, located above the lateral branches of the U (base of the U generally extending, in the mounted position, in a substantially horizontal plane).

[0042] The invention will be better understood, and other objects, details, features and advantages thereof will become more apparent from the following description of a particular embodiment of the invention, given solely by way of illustration and not limitation, with reference to the accompanying drawings, in which: - Fig. 1 illustrates a schematic exploded and side perspective view of a support device for a portable tool according to the invention; - [Fig.2] is a schematic and rear perspective view of the device in [Fig.1]; - the [[Fig.3]] is another schematic and rear perspective view of the device of the [Fig.1].

[0043] In the following description, the term "include" is synonymous with "include" and is not limiting in that it permits the presence of other elements in the vehicle, or the structure to which it relates. It is understood that the term "include" includes the terms "consist of".

[0044] Furthermore, in relation to the device according to the invention, in the mounted position or the position of use, an orthogonal reference frame XYZ is defined, namely: - an X axis, defining a horizontal direction; - a Y axis, defining a transverse and horizontal direction, which with the X axis defines a horizontal XY plane; - a Z axis, defining a vertical direction, orthogonal to the horizontal XY plane, the Z axis with the X axis defining a vertical XZ plane.

[0045] In this application, it should be noted that "substantially parallel" means a direction deviating by no more than 20°, or even by no more than 10° or 5°, from a parallel direction. It should also be noted that "substantially orthogonal" means a direction deviating by no more than 20°, or even by no more than 10° or 5°, from an angle of 90°.

[0046] Fig. 1 thus illustrates a very schematic, three-quarter perspective view of a support device 1 according to the invention for a portable tool 3. The tool 3 is, in the embodiment shown here, an electric drill.

[0047] It should be noted, however, that a portable tool or hand tool (or manual tool) means any tool which needs to be handled by a human operator, generally handled by a manual grip on a handle (or part of a grip).

[0048] Such portable tools may be of the following types: - to function solely through the physical force of the operator, for example a screwdriver; - be electric, for example a screwdriver or an electric drill; - be pneumatic or hydraulic, for example paint guns, impact wrenches, etc.

[0049] Said device 1 thus comprises at least: - a main support structure 5 which includes a fixing structure 7 configured to suspend said device 1; - a support element 9 for the portable tool 3 which is connected to said main support structure 5 by a connecting shaft 11, so that when the tool 3 is mounted in the element 9, the tool 3 is fixed to the support element 9; - at least one camera 13 configured to film the gripping of the handheld tool 3 by an operator.

[0050] The main support structure 5 includes a main body 15 which comprises at least three segments 15a and 15b arranged substantially in the shape of a U, two so-called lateral segments 15a (i.e. the lateral branches of the U) connected to each other by a base segment 15b (i.e. the base of the U).

[0051] The tool support element 9 is thus located between the free ends of the lateral segments 15a, the connecting axis 11 linking the free ends of said lateral segments 15a to said support element 9.

[0052] Furthermore, in the mounted position of the device 1, the free ends of the lateral segments 15a of the main body 15 are oriented downwards (the lateral segments extending substantially parallel to the Z axis or in a vertical plane), while the base segment 15b is located above said lateral segments 15a and extends substantially in a horizontal plane (or XY plane).

[0053] The fixing structure 7 is, for its part, located on the base segment 15b of the main body 15, advantageously located in the center of said segment 15b.

[0054] Said fastening structure 7 comprises as follows: - a fixing ring 17, for example fitted on the base segment 15b (fixing ring advantageously made of the same material as the main body); - a load compensator 19 (or load balancer) configured to allow the said device 1 to be suspended, for example by means of a cable 20 or a rope; - a carabiner 21 allowing to connect (or fix) the fixing ring 17 to the load compensator 19.

[0055] It should be noted that a load compensator makes it possible to keep the support device 1, and therefore the portable tool 3, in suspension or in support, and thus to reduce, or even cancel, the weight of the portable tool 3 handled by the operator.

[0056] In addition, the load compensator 19 allows the height or altitude of the portable tool 3 to be adjusted, the altitude adjustment generally being achieved by an internal spring and a mechanical stop (not shown) of said load compensator 19.

[0057] Thus, the device 1 is configured, in the mounted position of the device, so that its altitude is controlled or adjusted by means of the load compensator 19. In addition, said load compensator 19 advantageously allows controlled vertical movements, therefore to move said device 1 according to a vertical deflection.

[0058] Furthermore, said device 1 suspended, by means of the load compensator 19, by the cable 20, is configured to be able to rotate around said cable 20, therefore to rotate or pivot around a vertical axis (or Z axis).

[0059] Furthermore, said device 1 is configured to be able to be moved in translation along the three directions of space (i.e., along the X, Y and Z axes), generally by suspending said device 1 from a movable arm (or from a structure comprising one or more linear guides, for example in the form of one or more orthogonally arranged rails) allowing this type of movement and keeping said device 1 plumb (and by extension the tool 3).

[0060] Said main support structure 5 further includes one or more support legs 23 which are for example fixed on the main body 15 and on which the camera(s) 13 are fixed.

[0061] In the embodiment described herein, the main structure 5 comprises two support legs 23 and two cameras 13, but said main structure 5 may comprise any number of cameras 13 and associated support legs 23, a support leg being able to advantageously accommodate several cameras 13.

[0062] It will be noted that the support legs 23 are advantageously one-piece (or unitary) with the main body 15 of the main support structure 5. The main body 15 (and therefore by extension the support legs 23) is advantageously made of metal, for example of steel, aluminum, etc.

[0063] Thus, each of the support legs 23 extends away from the main body 15 of said support element 5, the cameras being located on or near the free end of a support leg 23.

[0064] Advantageously, the support legs 23 extend in different directions, for example on one of the lateral sides of the hand tool 3 and above the hand tool 3.

[0065] Indeed, the cameras 13 can thus film the gripping of the tool 3 by the operator, and more particularly the position and movements (for example of the wrist) of the operator, according to two distinct and complementary angles of view, here from the side (or laterally) and from above (or from below).

[0066] In an unrepresented embodiment of the invention, one of the cameras 13 (and the associated support leg) can also be positioned below the tool 3 to film the gripping of the tool 3 by the operator, from a low angle.

[0067] Each of the cameras 13 is therefore configured to film the wrist and part of the arm of the operator using the tool 3 arranged in the device 1, in order to allow continuous and real-time ergonomic assessments of the operations carried out by the operator at his workstation.

[0068] Furthermore, the cameras 13 are configured to communicate the data collected, here images, to a remote server (not shown) on which software processes and analyzes said data to evaluate the ergonomics of the operations carried out by the operator at his workstation, as well as the risks of musculoskeletal disorders or injuries for the operator.

[0069] Said software is advantageously configured to analyze, by means of a machine learning algorithm, the images acquired by the camera(s) 13, in order to evaluate the relative position of the operator's wrist with respect to the different spatial axes (i.e. the X, Y and Z axes) and thus be able to generate ergonomic reports accordingly.

[0070] In addition, the device 1 advantageously includes a wireless communication module 25, said at least one camera being configured to communicate, via said wireless communication module 25, the recorded data to a remote server.

[0071] The wireless communication module 25 is advantageously fixed on the main support structure 5, for example near one or more cameras 13. In addition, said wireless communication module 25 is for example a Wifi, Bluetooth, etc. module.

[0072] Furthermore, said tool support element 9 is configured to have at least two degrees of freedom, for example two rotational degrees of freedom.

[0073] Indeed, the support element 9 is advantageously configured to present, in the mounted position of the device 1, two degrees of rotational freedom with respect to two substantially horizontal axes (and for example orthogonal to each other, i.e. with respect to the X and Y axes).

[0074] Thus, the support element 9 is configured to: - pivot around said connecting axis 11 (therefore substantially around the Y axis), as is more particularly illustrated in [Fig.2], said support element 9 being advantageously configured to allow controlled orientation of said tool 3 according to predefined angles; - rotate about itself with respect to an axis substantially orthogonal to said connecting axis 11 (therefore pivot substantially around the X axis), as is more particularly illustrated in [Fig.3], said support element 9 and said connecting axis 11 being configured to form a pivot type connection.

[0075] In addition, said support element 9 includes locking means, such as wing nuts, independently configured to separately block rotation or pivoting about one, the other or both horizontal axes (here substantially the X and Y axes), i.e. about the connecting axis 11 and / or the axis substantially orthogonal to said connecting axis 11.

[0076] Furthermore, said portable tool support element 9 comprises at least three parts: two flanged parts 27a which are configured to clamp said tool 3 and a clamping part 27b configured to secure together said two flanged parts 27a and the tool 3 mounted between said two parts 27a.

[0077] Moreover, advantageously, said support element 9 has a substantially annular shape, and therefore a central opening, the central opening being configured to accommodate said handheld tool 3, that is to say: - the two parts forming flange 27a thus each have substantially a half-ring shape which are configured to fix to each other to form a ring, a portion of the portable tool 3 being positioned at the central opening formed by the half-rings 27a, the gripping part and the useful part of said tool 3 being arranged on either side of the annular shape; - the clamping part 27b also has a substantially annular shape and is configured to cover the half-rings 27a and to secure together the two parts forming flange 27a, as well as the tool 3 located between said two parts forming flange 27a.

[0078] It will be noted that the two parts forming flange 27a include means of fixing, for example screws, bolts, rivets and complementary blind or through holes, allowing the said two parts forming flange 27a to be fixed to each other.

[0079] In addition, the clamping part 27b also includes fastening means for fixing the clamping part 27b to said flanged parts 27a, such as screws, bolts, rivets and / or additional blind or through holes.

[0080] Such fastening means are advantageously configured to be adjustable and to adapt to tools of different sizes and shapes. Furthermore, the fastening means are, for example, configured to allow for quick disassembly of said flanged parts 27a, as well as simple positioning or removal of the tool from said flanged parts 27a.

[0081] Furthermore, said support element 9 includes a guide rail 29 (more particularly visible in [Fig.1]) in which ends of the connecting shaft 11 can slide. Said guide rail 29 is provided on the surface of the flanged parts 27a, for example on the outer (or external) face of the substantially annular shape 9.

[0082] The guide rail 29 is also a closed surface which goes around said support element 9. Thus, thanks to the cooperation between the rail 29 and the connecting axis 11, said support element 9 can rotate 360° around a horizontal axis (here the axis substantially orthogonal to said connecting axis).

[0083] Indeed, the connecting axis 11 comprises, for example, two half-axes lia fixed, for example by means of a threaded rod surmounted by a knurled wheel, on each of the free ends of the lateral segments 15a.

[0084] Thus, one end of each of said semi-axes 1la is fixed to a lateral segment 15a, while the other end of each of said semi-axes lia cooperates with the guide rail 29 and can slide along said guide rail 29 fitted in the support element 9 having substantially an annular shape.

[0085] It will be noted that the sliding of the ends of the half-axes lia in the guide rail 29 allows the rotation of said support element 9 around an axis substantially orthogonal to said connecting axis 11, and that this rotation around the orthogonal axis can be locked by means of a locking clamp (not shown) which blocks the sliding of said ends of the half-axes 1 la in the guide rail 29.

[0086] It should be noted that the ends of the half-axes lia, such as bolts, mechanically cooperating with the guide rail 29, thus allow the controlled rotation of the support element 9, and therefore of the tool 3, around the X-axis (or around the connecting axis). Furthermore, the ends of the half-axes lia advantageously have a circular or spherical shape, so as to be able to slide in said rail 29 and thus allow a relative displacement of the support element 9 with respect to said half-axes 11, and therefore the pivoting of the support element 9 around a Y-axis (or around an axis orthogonal to the connecting axis).

[0087] The device 1 according to the invention is thus configured to allow the movement of the portable tool 3 mounted in said device 1 in the three directions of space (i.e. along the X, Y and Z axes), while also allowing the rotation of the tool 3 with respect to the three directions of space (i.e. around the X, Y and Z axes).

[0088] In an alternative embodiment of the invention not shown, the device 1 includes an audible and / or visual alert means. The device 1 is thus configured to trigger a visual and / or audible alert, via said audible and / or visual alert means, if the analysis of the images acquired by one or more cameras 13 has determined (using the software) that the positions and movements of the operator's wrist are likely to cause him or her harm and / or injury, either immediately or in the long term.

[0089] In another unrepresented embodiment of the invention, the communication module is integrated or included in the camera or cameras of said device, i.e. the camera or cameras incorporate a wireless communication module.

Claims

Demands

1. A support device (1) for a handheld tool (3), said device (1) comprising: - a main support structure (5) which includes a mounting structure (7) configured to suspend said device (1); - a tool support element (9) which is connected to said main support structure (5) by a connecting axis (11), said support element (9) being configured to pivot about at least two horizontal axes; - at least one camera (13) configured to film the gripping of the handheld tool (3) by an operator;said device (1) being configured to analyze the images filmed by said at least one camera (13) and to detect ergonomically inadequate postures based on the analyzed images, characterized in that said portable tool support element (9) comprises at least two flange-forming parts (27a) which are configured to clamp said tool (3), said support element (9) comprising a guide rail (29) cooperating mechanically with the connecting axis (11), the mechanical cooperation between the guide rail (29) and the connecting axis (11) being configured to allow rotation of the support element (9) around said two horizontal axes.

2. Device (1) according to the preceding claim, characterized in that said device (1) comprises an audible and / or visual alert system.

3. Device (1) according to any one of the preceding claims, characterized in that said main support structure (5) comprises at least one support leg (23) extending away from said support structure (5), said at least one camera (13) being located on said at least one support leg (23).

4. Device (1) according to any one of the preceding claims, characterized in that said device (1) comprises a load compensator (19), said compensator (19) being fixed to said main support structure (5), said device (1) being configured to be suspended by means of the load compensator (19), the load compensator (19) being configured, in the mounted position, to control the altitude of the device (1).

5. Device (1) according to any one of the preceding claims, characterized in that said device (1) comprises at least two cameras (13), each configured to film the gripping of the handheld tool (3) by an operator, said cameras (13) being configured to present complementary shooting angles.

6. Device (1) according to any one of the preceding claims, characterized in that said portable tool support element (9) is configured to pivot about said connecting axis (11).

7. Device (1) according to any one of the preceding claims, characterized in that said portable tool support element (9) and said connecting axis (11) form a pivot joint, said support element (9) being able to rotate about itself with respect to an axis substantially orthogonal to said connecting axis (11).

8. Device (1) according to any one of the preceding claims, characterized in that said support element (9) comprises a clamping part (27b) configured to secure together said two flanged parts (27a) and the tool (3) mounted between said two parts (27a).

9. Device (1) according to any one of the preceding claims, characterized in that said tool support element (9) has a substantially annular shape, said handheld tool (3) being disposed in the central opening of said annular shape.

10. Device (1) according to any one of the preceding claims, characterized in that said device (1) is configured to move in translation along the three directions of space.

Images