Télémanipulateur pour manipulation à l'intérieur d'une enceinte étanche

摘要

876,898. Handling radioactive materials. COMMISSARIAT A L'ENERGIE ATOMIQUE. Jan 12, 1960 [Jan. 20, 1959], No. 1051/60. Addition to 873,441. Class 39(4). An arrangement for handling radioactive materials within a sealed chamber 101 by movement of magnets situated adjacent the outer surface of the non-magnetic chamber wall to produce corresponding movements of further magnets situated adjacent the inner surface of the wall comprises a carriage 103 movable in the direction YY1 along bars 105 secured to carriages 106a, 106b, the carriage 103 being driven by a motor 107 on the carriage 106a through an endless cable 109. The carriages 106a, 106b are movable in the direction XX1 along beams 113a, 113A having gear racks 114a, 114b by a motor 116 driving a shaft 115 through gears 117, 118, the shaft having pinions (not shown) engaging the gear racks. A plate 122 is secured to the carriage 103 by rods 121 encircled by springs 124 and passing through bores 120, the rods being retained by pins 123. An aperture 130 in. the plate 122 forms a bearing for a shaft 129 rigid with a gear-wheel 127 and a box-half 128. A motor 125 on the plate 122 drives a pinion 126 engaging the wheel 127 to rotate the box-half 128. The box-half 128 has rollers 134, Fig. 2, urged against the chamber outer surface by the springs 124 and contains magnets 135 mounted for rotation about vertical axes, each magnet being movable by a respective motor 137 and pinion 136 (only one shown). A corresponding box-half 141 inside the chamber 101 contains a similar number of rotatable magnets 152 and has rollers 151 urged against the chamber surface by springs 144 surrounding rods 143 freely passing through holes 143a. The rods 143 are carried by a plate 145 rotatable on a carriage 147 movable in the direction YY1 along bars 148, the bars being attached to carriages 149 movable in the direction XX1 along tracks 150. A manipulating tongs (not shown) is sup- -ported by a rod 142 secured to the box-half 141 and freely passing through apertures in the plate 145 and carriage 147. The motors 137 effect operation of the tongs by means not shown, the positioning of the tongs being effected by operation of the motors 107, 116, 125.