Appareil télécommandé d'intervention sur des matériels dangereux

973,101. Manipulators. COMMISSARIAT A L'ENERGIE ATOMIQUE. Feb. 16, 1961 [Feb. 16, 1960; May 16, 1960; Aug. 19, 1960], No. 5783/61. Heading B4Q. A remotely controlled manipulator head comprises an arm having an upper part 1 secured to a support 2 and a lower part 4 having unlimited rotation about the axis 9 relatively to the part 1, a forearm 5 pivoted to the part 4 by a shaft 6, a pincer carrier 8 having unlimited rotary motion about the axis 10 of the forearm and a pincer 7 on the carrier 8 having a gripping motion. These four movements are derived from motors 3, the transmission being through shafts, gearing and speed reducers diagrammatically shown in Figs. 2-9 (not shown). The head may be mounted, Fig. 10, on a parallelogram linkage 104, 105 having an articulation point 101 on a carriage 97, the linkage being movable by a nut and bolt type jack controlled by a motor 103. The carriage 97 is movable by a motor 100 on rails 96 on a structure 93 rotatable on a carriage 90 having wheels 91. In a further embodiment, Fig. 11, the head depends from a telescopic arm carried by a gantry 106, gloves 111 and pincers 110 in an airlock 112 having windows 113 permitting the motors 3 to be serviced. According to another embodiment, Fig. 12, the head is carried by a horizontal telescopic arm 123 rotatable about axis 126 and also rotatable about a vertical axis (Fig. 13, not shown), the vertical axis being situated near the end 124 of the arm, this end being mounted for vertical sliding movement on guides 122 secured to the outer face of a column 119. The column 119 is mounted for vertical movement by wheels 121 on a central column 117 rotatable on a selfpropelled carriage 116.