Remote attaching and detaching device including cell camera

• US 9,981,393 B2
• Filed: 08/26/2013
• Issued: 05/29/2018
• Est. Priority Date: 08/27/2012
• Status: Expired due to Fees

• Current Assignee: Korea Hydro and Nuclear Power Company Limited (Government of South Korea), Korea Atomic Energy Research Institute (Government of The Republic of Korea)
• Original Assignee: Korea Hydro and Nuclear Power Company Limited (Government of South Korea), Korea Atomic Energy Research Institute (Government of The Republic of Korea)
• Inventors: Kim, Kiho, Lee, Jong Kwang, Yu, Seung-Nam, Park, Byung Suk, Cho, Il-Je, Lee, Hansoo
• Primary Examiner(s): Ortiz Criado, Jorge L
• Assistant Examiner(s): Kwon, Yong Joon
• Application Number:
  US14/010,241
• Publication Number:
  US 20140055597A1
• Time in Patent Office: 1,737 Days
• Field of Search: 348 82, 901 47
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: H04N 23/51 Housings
• CPC Class Codes: H04N 23/555 for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source
• CPC Class Codes: Y02E 30/30 Nuclear fission reactors
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A remote attaching and detaching device which includes a camera module to substitute a worker'"'"'s vision in such an environment where the worker'"'"'s direct access to the in-cell is extremely limited or impossible. In a remote attaching and detaching device including a camera module for monitoring operating environment of a slave arm of a remote robot working in hazardous environment, the remote attaching and detaching device includes a fixing module fixed to a proximity of a gripper provided on the slave arm, and the camera module is attachable to and detachable from the fixing module, and provides visual in-cell information or situation about surroundings of the gripper.

Claims

1. A remote attaching and detaching device comprising a camera module for monitoring an operating environment of a slave arm of a remote robot working in a hazardous environment, the remote attaching and detaching device comprising:

a fixing module provided on an upper portion of a gripper provided on the slave arm;

and

the camera module attachable to and detachable from the fixing module, the camera module for providing visual information about the surroundings of the gripper,

wherein the camera module comprises;

a housing, a camera fixed to the housing to photograph the visual information, and a pair of detaching units provided on both side surfaces of the housing of the camera module and enabling attaching and detachment to and from the fixing module,

wherein the detaching unit comprises a spring, a fastening plate that moves in a direction of contracting or expanding the spring in accordance with contraction and expansion of the spring, and a pin connected to the fastening plate to fix the camera module to the fixing module,

wherein the pin moves simultaneously with, and in the same direction as, the fastening plate

wherein the fixing module comprises a groove formed in a positon corresponding to the pin so that the pin is inserted into the groove when the camera module is attached to the fixing module

wherein the spring is formed between the fastening plate and the housing,

wherein the fastening plate is joined to the housing via the pin,

wherein the pin is separated from the groove when the fastening plate moves in a direction of contracting the springs,

wherein the fixing module includes a recessed portion, and a lens portion is positioned in the recessed portion to collect the visual information.

2. The remote attaching and detaching device of claim 1, wherein the camera module further comprises:

a connector connected to the fixing module to transmit and receive an electric signal to and from the camera.

3. The remote attaching and detaching device of claim 1, wherein the fastening plate comprises a plurality of embossed portions formed on a surface to prevent sliding upon gripping the camera module.

4. The remote attaching and detaching device of claim 2, wherein the connector uses a female connector.

5. The remote attaching and detaching device of claim 1, wherein the camera module transmits collected visual information to an outside area to provide the same to an operator who is in the operating process.

8. The remote attaching and detaching device of claim 1, wherein the fixing ring is fixed on the upper portion of the gripper by using a bolt.

6. A remote attaching and detaching device comprising a camera module for monitoring an operating environment of a slave arm of a remote robot working in a hazardous environment, the remote attaching and detaching device comprising:

a fixing module provided on an upper portion of a gripper provided on the slave arm; and

the camera module attachable to and detachable from the fixing module, the camera module for providing visual information about the surroundings of the gripper,

wherein the camera module comprises a housing, a camera fixed to the housing to photograph the visual information, and a pair of detaching units provided on both side surfaces of the housing of the camera module and enabling attaching and detachment to and from the fixing module,

wherein the detaching unit comprises a spring, a fastening plate that moves in a direction of contracting or expanding the spring in accordance with contraction and expansion of the spring, and a pin connected to the fastening plate to fix the camera module to the fixing module,

wherein the pin moves simultaneously with, and in the same direction as, the fastening plate,

wherein the fixing module is fixedly supported on the gripper, and comprises a clamp housing comprising a groove formed in a position corresponding to the pin so that the pin is inserted into the groove when the camera module is attached to the fixing module,

wherein the spring is formed between the fastening plate and the housing,

wherein the fastening plate is joined to the housing via the pin,

wherein the pin is separated from the groove when the fastening plate moves in a direction of contracting the spring,

wherein the clamp housing further comprises a male connector formed on one side for coupling with a female connector,

wherein the fixing module includes a recessed portion, and a lens portion is positioned in the recessed portion to collect the visual information.

7. The remote attaching and detaching device of claim 6, wherein the male connector is connected to an external power source or a control device, to supply power to the camera module and transmit visual in-cell information or situation to the out-of-cell.

9. The remote attaching and detaching device of claim 6, wherein the fixing ring is fixed on the upper portion of the gripper by using a bolt.