Commissariat a L'energie Atomique

Ateliers Et Chantiers De Bretagne - A.c.b.

Claude Moreau

Paul Marchal

Daniel Francois

Michel Brochier

Gilles Clement

Rene Ranc

Jacques Gaidry

Franccois Moutet

Rene Schreder

Finger joint prosthesis for metacarpophalangeal and interphalangeal

Remote manipulating assembly of the type comprising a movable platform carrying a telescopic supporting or carrying assembly at the end of which a remote manipulation arm can be displaced within an enclosure, wherein the platform is located within a wall of the enclosure, at least one opening being provided in the wall to permit the introduction of the telescopic carrying assembly of axis AA into the enclosure, and wherein the platform is provided with a hood within which the telescopic carrying assembly and the remote manipulation arm can be completely contained, the hood also being provided in its opening part with means for the tight connection to the wall of the enclosure cooperating with sealing means provided in the opening, and having at its other end means for controlling the displacements of the telescopic carrying assembly, while also having connection and supply means for the displacements of the remote manipulation arm, together with its operation and the operation of its tools. The invention also relates to a process for connecting a remote manipulation assembly to the opening of an enlcosure. The present remote manipulation assembly is intended for working in hostile or dangerous environments, particularly in the nuclear field.

Remote manipulation assembly

A compact telemanipulator arm assembly with a rotatable gripping tool is disclosed that is watertight and has a sleek profile suitable for penetrating into narrow underwater passages of nuclear reactors. The assembly has a plurality of elongated arm elements jointed together end-to-end in series relationship. Bending of adjacent elements is achieved by an axially aligned motor housed within one of the adjacent elements, a screw-nut system that converts the motor shaft rotation to axial movement of a slider, and mechanical linkage that converts the slider movement to relative pivoting of the elements. The gripping tool is mounted on a tool support on an end element. Tool gripping members are operated by a first axially aligned motor housed within the end element and a screw-nut system that converts the first motor shaft rotation to axial movement of a slider. Tool rotation is controlled by a second axially aligned motor housed within the end element and mounted on the slider between the first motor and the tool. A pin is attached to the second motor drive shaft and extends through a central bore of the tool support. The pin has an axial key which travels in a longitudinal groove on the bore. Linear movement of the pin caused by the slider operates the tool gripping members; rotation of the pin caused by the rotating shaft of the second motor rotates the tool. The motors are permanent magnet DC electric brake motors.

Small size telemanipulator

Growing community of inventors

Nantes, France

Claude Moreau