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

Rene Schreder

Claude Moreau

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.

Growing community of inventors

St. Herblain, France

Rene Schreder