Commissariat a L'energie Atomique

Protee Groupement D'interet Economique

Gilles Clement

Eric Villedieu

Paul Marchal

Jean-Marie Detriche

Daniel Francois

Jean-Claude Germond

Claude Moreau

A system determines the movement of a track vehicle along the ground, the track vehicle having at least a first rotatable, endless track for supporting the vehicle on the ground, a drive for causing the movement of the vehicle, and a turning system for changing the direction of the movement of the vehicle. The system has a first traction-improvement device for mounting on the track vehicle. It bears on an inner-surface side of the first track with sufficient pressure for a small-surface portion on the opposite side of the first track to engage the ground with a higher pressure than any other portion of the first track, whereby to locate a pivoting axis of the track vehicle in the vicinity thereof. A first speed sensor for mounting on the track vehicle in the vicinity of the small-surface portion on the opposite side of the first track senses the speed of movement of the track vehicle along the ground only in the direction of the rotation of the first track and provides a first information thereof, whereby the movement of the track vehicle may be deduced therefrom. Preferably the vehicle has two tracks, and the system has two such traction-improvement devices and speed sensors respectively for the two tracks.

System for determining the movement of a track vehicle

The vehicle comprises two tracked bodies and one non-tracked body articulated about a common axis. Each tracked body comprises two laterally positioned tracks. The engines are carried by tracked bodies, one of them supporting an engine or motor driving the tracks located on one side of the vehicle and a motor or engine controlling the articulation of the tracks bodies with respect to one another, whereas the other tracked body supports a motor or engine for driving the tracks located on the other side of the vehicle and an engine or motor controlling the orientation of the non-tracked body about the axis. The non-tracked body supports the main useful load.

Variable geometry track vehicle

A tool holder robot makes it possible to carry out various interventions within a closed enclosure having an access opening. It comprises a cylindrical ferrule fixed to the opening, a cylindrical shaft mounted in rotary manner in the ferrule, a guide rail fixed to the inner wall of the shaft, in which a first arm is slidingly mounted, a second arm pivotably mounted to the free end of the first arm and a tool holder carriage slidingly mounted on the second arm. The second arm is in two parts and can rotate about its longitudinal axis. Application to the inspection and maintainance, without human intervention, of water boxes of nuclear power station steam generators.

Tool holder robot for intervening in an enclosure having an access

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.

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Paris, France

Gilles Clement