WO2019063854A1 - Tool for handling and retrieving objects at depth - Google Patents

Tool for handling and retrieving objects at depth Download PDF

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Publication number
WO2019063854A1
WO2019063854A1 PCT/ES2017/070639 ES2017070639W WO2019063854A1 WO 2019063854 A1 WO2019063854 A1 WO 2019063854A1 ES 2017070639 W ES2017070639 W ES 2017070639W WO 2019063854 A1 WO2019063854 A1 WO 2019063854A1
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WO
WIPO (PCT)
Prior art keywords
tool
motorized
rescue
depth
pole
Prior art date
Application number
PCT/ES2017/070639
Other languages
Spanish (es)
French (fr)
Inventor
Jesús Lacalle Bayo
José MELARA SAN ROMÁN
José Ignacio ROSELLÓ GARCÍA
Adolfo FERNÁNDEZ LÓPEZ
Xavier Alberto CARRILLO DE HIJES
Original Assignee
Gdes Technology For Services, S.L.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gdes Technology For Services, S.L. filed Critical Gdes Technology For Services, S.L.
Priority to PCT/ES2017/070639 priority Critical patent/WO2019063854A1/en
Publication of WO2019063854A1 publication Critical patent/WO2019063854A1/en

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Classifications

    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
    • G21C19/02—Details of handling arrangements
    • G21C19/10—Lifting devices or pulling devices adapted for co-operation with fuel elements or with control elements
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
    • G21C19/32—Apparatus for removing radioactive objects or materials from the reactor discharge area, e.g. to a storage place; Apparatus for handling radioactive objects or materials within a storage place or removing them therefrom
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • the present invention consists of an automatic operating tool, manual or mixed, comprising a pole that allows the operation head to be submerged in a body of water, such as the reactor pool of a nuclear power plant, and comprising an end articulated with interchangeable elements for the different operations;
  • the pole will be supported by a coupling in the upper bridge that will allow its assembly and stable handling.
  • Object rescue poles are known, which are provided at their end with a jaw. http:; / v ⁇ .axaton.es / equipam
  • FIG. 1 shows a pole with a bow at the end to rescue people, for example in holes or pipes.
  • a type of pole like the one that can be seen in hüp: //www.joseaifonso.e3/PINZA ABRAZADERA CFERTiGA 160 60950.aspx shows a jaw at its end for the attachment of objects in height.
  • the object of the present invention is a tool for handling and salvaging objects in depth, which can be used in backgrounds with low visibility and / or difficult access, comprising the following elements:
  • a pole element located at the lower end, connecting with operating elements
  • a lighting device normally arranged in the lower pole element
  • At least one imaging camera arranged in the lower pole element
  • It also includes a guide element and retention of the pole, which is located on the bridge of the existing pool in the central, and which holds the position of the end of the pole to the desired depth, and also supports the set of pole elements when a new element is going to be inserted.
  • the pole element provided with its corresponding lower element, provided with the carrier module of the operating tools is lowered from the bridge of the pool and retained by guide element and retention, allowing its release to the desired position in which the operation has to be performed, or, if it has not reached the required depth, to the position where it can, manually, connect a new pole element.
  • the pole element provided with its corresponding lower element, provided with the carrier module of the operating tools, is lowered from the bridge of the pool and retained by guide element and retention, allowing its release to the desired position in which the operation has to be performed, or, if it has not reached the required depth, to the position where it can, manually, connect a new pole element.
  • REPLACEMENT SHEET (RULE 26)
  • at least the pole member disposed at the lower end is preferably provided with lighting means and an image taking chamber.
  • the image taking chamber and the lighting means can be configured in a single piece, or be separate pieces and can also be arranged in different places, for example, next to the operating tool.
  • the lower end of the pole is provided with at least one motorized module, and usually provided with two or more motorized modules.
  • the carrier module of the operation tool will also allow the operation tool to be operated, said operation normally being the opening and closing, according to the different types of operating tool that will be explained later.
  • the pole is provided at its end with the motorized module carrying the operating tool, without the need to couple other elements.
  • This configuration will be used when access is direct and there are no obstacles preventing the rescue of the object in a straight movement.
  • the end of the pole is provided with a pair of motorized modules articulated to each other.
  • one of the modules (first module) is provided with a conical pinion (driver) with a longitudinal axis that meshes on a pair of pinions (driven) with transverse axes arranged in a second motorized module (for example, one of the pinions).
  • a second motorized module for example, one of the pinions.
  • the first motorized module and the second motorized module are provided with arms on which to articulate the assembly, with articulation axis coinciding with the rotation of the driven pinions.
  • the second motorized module will carry the operation tool.
  • the end of the pole is provided with three motorized modules, two of them articulated to each other, and a third joined to one of the first two by means of a union rotatable with respect to the joint axis.
  • the rotary union is between the first motorized module and the pair of articulated modules between
  • REPLACEMENT SHEET (RULE 26) yes;
  • the rotary union is situated between the pair of modules articulated to each other and the motorized module carrying the tool.
  • the operating tool is located in a motorized module arranged at the free end.
  • the clamp can have different configurations and lengths and degrees of opening, depending on the use to be made.
  • the clamp can perform rescue work by closing said clamp, when the body to be rescued is a closed body, or by opening it, if it is a body provided with an interior hollow, such as a washer;
  • the clamp symmetrical, is provided with two pinions, one on each of the sides, which actuates a corresponding actuation bar, and which acts on the end of the clamp by means of a mechanism such as an articulated parallelogram;
  • a sweeping and cutting clamp in which the only one moves from one side to the other, along a guide, which provides its only degree of freedom; when required, the clamp is capable of making cable cuts or small fragments whose rescue would be difficult without making that cut.
  • Both the visualization and the maneuver elements are governed and monitored by a control unit arranged on the outside of the pool, in which all the movements made are recorded.
  • clamps are equipped with pressure sensors, and that the tool of the invention is governed by means of a sensorized glove, a joystick, or by means of commands in the console of the control unit.
  • Figure 1 shows a schematic perspective view of the end of a rescue pole, according to an embodiment of an articulated arm
  • Figure 2 shows a schematic perspective view of the end of the rescue pole in a configuration of rotation and articulation at the end;
  • Figure 3 shows a schematic perspective view of the end of the rescue pole, in a configuration of articulation and turning at the end;
  • Figure 4 shows a schematic perspective view of a first type of symmetrical clamp driven by means of two pinions driven by a spindle in the motorized module carrying the clamp;
  • Figure 5 shows a schematic perspective view of a first pair of accessory elements to be arranged at the ends of the clamp of Figure 4, used in the rescue by opening;
  • Figure 6 shows a schematic perspective view of a second pair of accessory elements to be arranged in the clamp of Figure 4;
  • Figure 7 shows a schematic perspective view of a third pair of accessory elements to be arranged in the clamp of Figure 4, for use in the rescue of tubular products;
  • Figure 8 shows a schematic perspective view of a second type of gripper, driven by a spindle that longitudinally displaces the drive support of a lateral arm;
  • Figure 9 shows a schematic perspective view of a first type of clip attachment engageable with the clip of Figure 8.
  • Figure 10 shows a schematic perspective view of a second type of clip attachment engageable with the clip of Figure 8;
  • Figure 1 1 shows a schematic perspective view of a third type of clip attachment engageable with the clip of Figure 8;
  • Figure 12 shows a schematic perspective view of a third type of asymmetric clamp driven by means of pinions, one of them provided with an arm acting on a guided slide;
  • Figure 13 shows a schematic perspective view of a first type of accessory, collection, coupled to the clamp of Figure 12;
  • Figure 14 shows a schematic perspective view of a second type of cutting attachment, engageable with the clip of Figure 12.
  • the invention consists of a tool for manipulation and rescue of objects, normally at depth from the place of operation, and particularly for the rescue of objects in the pool or in the reactor vessel of a nuclear power plant.
  • the tool of the invention could also be used in height for operations that may require it.
  • the tool consists mainly of the following parts:
  • the control unit is usually located outside the pool, or even outside the room in which the pool is located, and includes:
  • the energy supply means can come from an external supply supplied by the plant itself, or be formed by electric accumulators in the control unit itself.
  • a pole is used, normally formed by a set of pole elements, which can be joined together by means of attachment, for example, screwed, by screws, a bayonet elastic closure, or other , these pole elements constitute, once joined together a single body and behave as a single bar. Understand the invention:
  • REPLACEMENT SHEET (RULE 26) • A lower pole element (1), which also comprises, in addition to the connection with the upper elements, a joining means for the operating elements;
  • An operation head (3) which is formed by one or more motorized modules
  • the connecting elements between the control unit and the operating head (3) are formed by electrical and data transmission cables, and according to non-preferred embodiments, of hydraulic or pneumatic conduits.
  • the connections of the operation head (3) with the control unit is made by means of a single cable with several wires that are coupled to respective connectors (21) of said operation head (3).
  • a motorized module (4,5,6) is connected to the control unit or to another motorized module, by means of a single cable. It is provided that the motorized modules are provided with two connectors, a "receiver” connector and an “emitter” connector, so that the motorized module attached to the lower element of the pole (1) will have a single connection with the control unit, and in case there are more motorized modules, each one of the successive ones will be connected only to the previous motorized module. In other words, only a first motorized module is connected to the control unit, and the other motorized modules are connected in series to the first one.
  • the lower element of the pole (1) will also comprise an image taking chamber (7).
  • the image taking chamber could be located in other positions, in the operation head (camera 25), or both.
  • the pole and / or the operating head is also provided with a lighting device.
  • the motorized module carrying the operating tool is provided with localized illumination (20), preferably arranged in a manner surrounding the support of said operating tool.
  • REPLACEMENT SHEET (RULE 26) It is provided that the image taking chamber (7) located in the lower element of the pole (1) is provided with a motor that allows its two-dimensional or three-dimensional orientation.
  • the lower end of the pole (1) is provided with at least one motorized module (4,5, or 6), and usually with two or more motorized modules.
  • a first option consists in placing at the lower end of the pole (1) a single motorized module (5) carrying the operating tool. There will be no rotation of the tool with respect to the pole.
  • a pair of motorized modules (4,5) is fitted with a hinged connection (22) to each other, in which the last motorized module is the carrier of the operation tool.
  • An alternative option to the previous one also comprises two motorized modules (5,6), but with a connection to each other by means of the turning element (23).
  • this option is not very effective with respect to the first option, since a mere manual rotation of the pole would achieve the same effect.
  • the lower end of the pole (1) is provided with three motorized modules (4,5,6), a pair of them (4,5) joined together by means of a connection with an element of articulation (22) and the other by means of a joint with a turning element (23).
  • This third option allows two variants, one in which the joint is up and the down, and another in which it is the turn that is located above and the joint below.
  • the folding connection element comprises a first conical pinion (29) coaxial with the axis of the motorized driving module (4), and a pair of conical pinions (27, 28) driven whose axis is transverse and coaxial with the articulation pinion (22). ) of the modules
  • REPLACEMENT SHEET (RULE 26) motorized (4,5) with each other.
  • One of the conical pinions (27) has an unrestricted rotation and the other conical pinion (28) is integral with the motorized module (5), so that the rotation of said conical pinion (28) involves the movement of the motorized module (5).
  • the motorized modules (4,5) are provided with arms (29). The mechanism described can be part of the motorized modules (4,5) or be formed by coupling accessories.
  • the motorized module (6) that carries the operating tool, which is located at the free end of the operation head (3), is provided with an axis that forms or carries an endless screw, which is the one that acts on the different tools of operation.
  • the jaws of the clamp are provided with a hole (45) on each of its sides, which allows the attachment of various operating accessories, such as can be seen in figures 5 to 7. These accessories externally form a longitudinal groove ( 52) on which the inner part of the jaws is inserted
  • FIG. 6 A grooved clamp (from outside to inside) (Fig. 6), general purpose; or
  • One spindle drive clamp (11) This clamp has a higher precision than the previous one, with a slower movement. It comprises a support (62) with a connecting piece (61) to the motorized module (6) carrying. It comprises a spindle (63) moved by the motorized module (6) and a slide (64) that moves said spindle. The slide moves an articulated mechanism (66) which in turn opens or closes the clamp (65).
  • this clamp is provided with a set of accessories, provided with a fixing means by means of a transverse groove
  • REPLACEMENT SHEET (RULE 26) (61) and hole (62) for a screw, and which, without limitation, may be the following:
  • An arched clamp attachment with complementary elements, in which one of the sides is formed by a pair of claws (65) separated from one another by a groove (66) and the other by a single claw (67), so that the claw (67) can pass through the slot (66) existing between the pair of claws (65) in its closing operation;
  • a sweeping and cutting clip (12). It comprises a support (71) with an anchoring means (72) to the motorized module (6). It is provided with a gear between the driving spindle of the motorized module and at least one pinion (73) integral with an arm (74). Normally there will be two pinions, of which one will have resistant effects, but not mechanical ones. The rotation of the pinion (73) by means of the rotation of the spindle will produce a rotation of the arm (74) and by means of a mechanical system, the displacement of a slide (75) on a guide (76).
  • the support (71) is provided with a holder (77) for a fixed element and the slide (75) of a holder (78) for a moving element.
  • the clips (77,78) are aligned in the same plane.
  • a pick-up device with a bowl (81) and a pusher (82).
  • a cutting device with a blade (83) on one side, and a slot (84) on the other.
  • the blade (83) will be located in the moving part and the groove in the fixed part; however, the fixed and mobile part can be exchanged at convenience.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Emergency Lowering Means (AREA)

Abstract

The invention uses a supporting pole (2), generally formed by a plurality of adjoining pole elements, characterised in that it comprises: a control unit; a lower pole element (1) supporting an operating head (3) provided with one or more motor-driven modules, one supporting an operating tool; and connection elements between the control unit and the operating head (3).

Description

Herramienta de manipulación y rescate de objetos a profundidad  Tool for manipulation and rescue of objects in depth
La presente invención consiste en una herramienta de funcionamiento automático, manual o mixto, que comprende una pértiga que permite sumergir el cabezal de operación en una masa de agua, tal como la piscina del reactor de una central nuclear, y que comprende un extremo articulado con elementos intercambiables para las distintas operaciones; en general la pértiga estará sustentada por un acoplamiento en el puente superior que permitirá su montaje y manipulación estable. The present invention consists of an automatic operating tool, manual or mixed, comprising a pole that allows the operation head to be submerged in a body of water, such as the reactor pool of a nuclear power plant, and comprising an end articulated with interchangeable elements for the different operations; In general, the pole will be supported by a coupling in the upper bridge that will allow its assembly and stable handling.
Antecedentes y estado de la técnica Background and state of the art
La actividad en determinadas etapas de operación de una central nuclear, y en particular en las etapas de recarga de combustible y mantenimiento de la central, es posible que se produzca la caída de algún pequeño objeto o algún fragmento desprendido de algún elemento de la instalación. Por una parte, la caída puede producirse en la piscina del reactor o cuando la tapa de la vasija está abierta, en el hueco donde se sitúa el combustible.  The activity in certain stages of operation of a nuclear power plant, and in particular in the stages of refueling and maintenance of the plant, it is possible that the fall of some small object or some fragment detached from some element of the installation. On the one hand, the fall can occur in the reactor pool or when the lid of the vessel is open, in the hole where the fuel is located.
Se conocen pértigas de rescate de objetos, que están provistas en su extremo de una mordaza. http:;/v^.axaton.es/equipam Object rescue poles are known, which are provided at their end with a jaw. http:; / v ^ .axaton.es / equipam
consiste en una pértiga extensible telescópicamente con flotador para rescate acuático. http:/Aftw¿y,hubbeljpowers^ consists of a telescopically extendable pole with float for aquatic rescue. http: / Aftw¿y, hubbeljpowers ^
muestra una pértiga con un arco en el extremo para rescate de personas, por ejemplo en agujeros o tuberías. shows a pole with a bow at the end to rescue people, for example in holes or pipes.
Un tipo de pértiga, como la que puede verse en hüp://www.joseaifonso.e3/PINZA ABRAZADERA CFERTiGA 160 60950.aspx muestra una mordaza en su extremo para la sujeción de objetos en altura. A type of pole, like the one that can be seen in hüp: //www.joseaifonso.e3/PINZA ABRAZADERA CFERTiGA 160 60950.aspx shows a jaw at its end for the attachment of objects in height.
No hemos encontrado ninguna pértiga de rescate de objetos a profundidad con las características que se describen en la presente invención. We have not found any object rescue vault in depth with the features that are described in the present invention.
En los casos en que pueda producirse la caída de algún objeto, es necesario rescatarlo, y su ubicación puede ser de muy difícil acceso. Es por ello que las pértigas tradicionales, por ejemplo provistas de una garra elástica con accionamiento manual, no son capaces de garantizar una operación segura y fiable, ni tienen acceso a lugares, que puedan estar parcialmente ocultos por otros elementos superiores. In cases where the fall of an object can occur, it is necessary to rescue it, and its location can be very difficult to access. That is why traditional poles, for example provided with an elastic claw with manual operation, are not able to guarantee a safe and reliable operation, nor have access to places, which may be partially hidden by other superior elements.
HOJA DE REEMPLAZO (REGLA 26) Descripción de la invención REPLACEMENT SHEET (RULE 26) Description of the invention
La presente invención tiene por objeto una herramienta de manipulación y rescate de objetos a profundidad, que puede ser utilizada en fondos con escasa visibilidad y/o difícil acceso, que comprende los siguientes elementos:  The object of the present invention is a tool for handling and salvaging objects in depth, which can be used in backgrounds with low visibility and / or difficult access, comprising the following elements:
• Un conjunto de elementos de pértiga con medios de unión entre sí, siendo dichos elementos de pértiga tramos de barra que configuran, una vez unidos, una barra única;  • A set of pole elements with means of union with each other, said pole elements being sections of bar that form, once joined, a single bar;
• Un elemento de pértiga, situado en el extremo inferior, de conexión con elementos de operación;  • A pole element, located at the lower end, connecting with operating elements;
• Al menos un módulo motorizado portador de herramientas de operación;  • At least one motorized module carrying operating tools;
• Al menos una herramienta de operación;  • At least one operation tool;
• Conexiones de alimentación eléctrica de uno o más de los distintos elementos; • Power connections of one or more of the different elements;
• Conexiones electrónicas de comunicación y gobierno de uno o más de los distintos elementos; • Electronic communication and government connections of one or more of the different elements;
• Posiblemente conexiones hidráulicas o neumáticas, en el caso de que el accionamiento de los motores fuera hidráulico o neumático;  • Possibly hydraulic or pneumatic connections, in the case that the motor drive is hydraulic or pneumatic;
• Un dispositivo de iluminación, dispuesto normalmente en el elemento inferior de pértiga;  • A lighting device, normally arranged in the lower pole element;
• Al menos una cámara de toma de imágenes, dispuesta en el elemento inferior de pértiga;  • At least one imaging camera, arranged in the lower pole element;
• Una unidad de control de operación y visualización,  • A control unit for operation and visualization,
Comprende también un elemento de guía y retención de la pértiga, que se ubica en el puente de la piscina existente en la central, y que sujeta la posición del extremo de la pértiga a la profundidad deseada, y sustenta también el conjunto de elementos de pértiga cuando va a insertarse un nuevo elemento. It also includes a guide element and retention of the pole, which is located on the bridge of the existing pool in the central, and which holds the position of the end of the pole to the desired depth, and also supports the set of pole elements when a new element is going to be inserted.
Cuando se ha de utilizar la pértiga de rescate de la invención, desde el puente de la piscina se hace descender el elemento de pértiga provisto de su correspondiente elemento inferior, provisto del módulo portador de las herramientas de operación, y retenido por elemento de guía y retención, permitiendo su liberación hasta la posición deseada en la que ha de realizarse la operación, o, si no ha alcanzado la profundidad requerida, hasta la posición en la que pueda, manualmente, conectarse un nuevo elemento de pértiga. Si bien no se considera viable la realización de la pértiga con medios telescópicos o paralelos de retracción/extensión, debe considerarse, en cualquier caso, dentro del alcance de la invención. When the rescue pole of the invention is to be used, the pole element provided with its corresponding lower element, provided with the carrier module of the operating tools, is lowered from the bridge of the pool and retained by guide element and retention, allowing its release to the desired position in which the operation has to be performed, or, if it has not reached the required depth, to the position where it can, manually, connect a new pole element. Although it is not considered feasible to perform the pole with telescopic or parallel retraction / extension means, it must be considered, in any case, within the scope of the invention.
HOJA DE REEMPLAZO (REGLA 26) Normalmente, al menos el elemento de pértiga dispuesto en el extremo inferior está preferentemente provisto de medios de iluminación y una cámara de toma de imágenes. La cámara de toma de imágenes y los medios de iluminación pueden estar configurados en una única pieza, o ser piezas separadas y pueden también estar dispuestas en lugares distintos, por ejemplo, junto a la herramienta de operación. REPLACEMENT SHEET (RULE 26) Normally, at least the pole member disposed at the lower end is preferably provided with lighting means and an image taking chamber. The image taking chamber and the lighting means can be configured in a single piece, or be separate pieces and can also be arranged in different places, for example, next to the operating tool.
Como se ha indicado, el extremo inferior de la pértiga está provisto de al menos un módulo motorizado, y normalmente provisto de dos o más módulos motorizados.  As indicated, the lower end of the pole is provided with at least one motorized module, and usually provided with two or more motorized modules.
La unión de estos módulos configura al menos dos tipos distintos de movimiento: The union of these modules configures at least two different types of movement:
• Un movimiento de giro respecto a un eje longitudinal (movimiento de tipo "muñeca"); el movimiento de giro tiene lugar entre dos módulos motorizados, respecto a un eje común a ellos;  • A movement of rotation with respect to a longitudinal axis (movement of type "wrist"); the turning movement takes place between two motorized modules, with respect to an axis common to them;
• Un movimiento de abatimiento (movimiento de tipo "codo" de un módulo respecto a otro, respecto a un eje transversal.  • A movement of abatement (movement "elbow" type of one module with respect to another, with respect to a transverse axis.
El módulo portador de la herramienta de operación, además, permitirá el accionamiento de la herramienta de operación, siendo dicha operación normalmente la apertura y el cierre, según los distintos tipos de herramienta de operación que se expondrán más adelante. The carrier module of the operation tool will also allow the operation tool to be operated, said operation normally being the opening and closing, according to the different types of operating tool that will be explained later.
Conforme a una primera configuración, la pértiga está provista en su extremo del módulo motorizado portador de la herramienta de operación, sin necesidad de acoplar otros elementos. Esta configuración se utilizará cuando el acceso sea directo y no haya obstáculos que impidan el rescate del objeto en un movimiento recto. According to a first configuration, the pole is provided at its end with the motorized module carrying the operating tool, without the need to couple other elements. This configuration will be used when access is direct and there are no obstacles preventing the rescue of the object in a straight movement.
Según una segunda configuración el extremo de la pértiga está provisto de una pareja de módulos motorizados articulados entre sí. Está previsto que uno de los módulos (primer módulo) esté provisto de un piñón cónico (conductor) de eje longitudinal que engrana sobre una pareja de piñones (conducidos) de eje transversal dispuestos en un segundo módulo motorizado (por ejemplo, uno de los piñones tiene giro libre y el otro está fijado, sin giro, al segundo módulo motorizado), de modo que el giro del primero en el primer módulo provoca el giro del otro módulo. En este caso, el primer módulo motorizado y el segundo módulo motorizado están provistos de unos brazos sobre los que articular el conjunto, con eje de articulación coincidente con el de giro de los piñones conducidos. El segundo módulo motorizado portará la herramienta de operación. According to a second configuration, the end of the pole is provided with a pair of motorized modules articulated to each other. It is provided that one of the modules (first module) is provided with a conical pinion (driver) with a longitudinal axis that meshes on a pair of pinions (driven) with transverse axes arranged in a second motorized module (for example, one of the pinions). it has free rotation and the other is fixed, without rotation, to the second motorized module), so that the rotation of the first module in the first module causes the rotation of the other module. In this case, the first motorized module and the second motorized module are provided with arms on which to articulate the assembly, with articulation axis coinciding with the rotation of the driven pinions. The second motorized module will carry the operation tool.
Según una tercera configuración el extremo de la pértiga está provisto de tres módulos motorizados, dos de ellos articulados entre sí, y un tercero unido a uno de los dos primeros mediante una unión giratoria respecto al eje de unión. En una primera variante, la unión giratoria está entre el primer módulo motorizado y la pareja de módulos articulados entre According to a third configuration, the end of the pole is provided with three motorized modules, two of them articulated to each other, and a third joined to one of the first two by means of a union rotatable with respect to the joint axis. In a first variant, the rotary union is between the first motorized module and the pair of articulated modules between
HOJA DE REEMPLAZO (REGLA 26) sí; en una segunda variante, la unión giratoria se sitúa entre la pareja de módulos articulados entre sí y el módulo motorizado portador de la herramienta. REPLACEMENT SHEET (RULE 26) yes; In a second variant, the rotary union is situated between the pair of modules articulated to each other and the motorized module carrying the tool.
La diferencia entre estos radica en el ámbito de movimiento en el que puede operar la herramienta. The difference between these lies in the scope of movement in which the tool can operate.
La herramienta de operación se sitúa en módulo motorizado dispuesto en el extremo libre. The operating tool is located in a motorized module arranged at the free end.
Para el dispositivo de la invención se han previsto distintas herramientas de operación, como sigue: Various operating tools are provided for the device of the invention, as follows:
• Una pinza (o alicate) accionada por piñones; la pinza puede tener distintas configuraciones y longitudes y grados de apertura, en función de la utilización a realizar. Además, la pinza puede realizar labores de rescate mediante el cierre de dicha pinza, cuando el cuerpo a rescatar es un cuerpo cerrado, o mediante su apertura, si se trata de un cuerpo provisto de un hueco interior, tal como una arandela; La pinza, simétrica, está provista de dos piñones, uno en cada uno de los lados, que acciona una correspondiente barra de accionamiento, y que actúa sobre el extremo de la pinza por medio de un mecanismo tal como un paralelogramo articulado;  • A pincer (or pliers) driven by pinions; The clamp can have different configurations and lengths and degrees of opening, depending on the use to be made. In addition, the clamp can perform rescue work by closing said clamp, when the body to be rescued is a closed body, or by opening it, if it is a body provided with an interior hollow, such as a washer; The clamp, symmetrical, is provided with two pinions, one on each of the sides, which actuates a corresponding actuation bar, and which acts on the end of the clamp by means of a mechanism such as an articulated parallelogram;
• Una pinza de accionamiento por husillo, con mayor precisión que la anterior, pero cuyos brazos actúan por articulación respecto a un eje central;  • A spindle drive clamp, with greater precision than the previous one, but whose arms act by articulation with respect to a central axis;
• Una pinza de barrido y corte, en la que el únicamente se desplaza uno de los lados respecto al otro, a lo largo de una guía, que proporciona su único grado de libertad; cuando se requiere, la pinza es capaz de realizar cortes de cables o pequeños fragmentos cuyo rescate resultaría difícil sin realizar ese corte.  • A sweeping and cutting clamp, in which the only one moves from one side to the other, along a guide, which provides its only degree of freedom; when required, the clamp is capable of making cable cuts or small fragments whose rescue would be difficult without making that cut.
Todas las pinzas pueden estar provistas de distintos accesorios para las distintas acciones, como se verá en la descripción detallada que veremos posteriormente. All the clamps can be provided with different accessories for the different actions, as will be seen in the detailed description that we will see later.
Tanto la visualización, como los elementos de maniobra se encuentran gobernados y monitorizados por una unidad de control dispuesta en la parte exterior de la piscina, en la que se registran todos los movimientos realizados. Both the visualization and the maneuver elements are governed and monitored by a control unit arranged on the outside of the pool, in which all the movements made are recorded.
Está previsto que las pinzas estén dotadas de sensores de presión, y que la herramienta de la invención esté gobernada por medio de un guante sensorizado, un joystick, o mediante comandos en la consola de la unidad de control. It is envisaged that the clamps are equipped with pressure sensors, and that the tool of the invention is governed by means of a sensorized glove, a joystick, or by means of commands in the console of the control unit.
Breve descripción de los dibujos BRIEF DESCRIPTION OF THE DRAWINGS
HOJA DE REEMPLAZO (REGLA 26) Con objeto de ilustrar la explicación que va a seguir, adjuntamos a la presente memoria descriptiva, nueve hojas de dibujos en las que en catorce figuras se representa, a título de ejemplo y sin carácter limitativo, la esencia de la presente invención, y en las que puede observarse lo siguiente: REPLACEMENT SHEET (RULE 26) In order to illustrate the explanation that will follow, we enclose to the present specification, nine sheets of drawings in which in fourteen figures is represented, by way of example and without limitation, the essence of the present invention, and in the that the following can be observed:
La figura 1 muestra una vista esquemática en perspectiva del extremo de una pértiga de rescate, conforme a una realización de brazo articulado; La figura 2 muestra una vista esquemática en perspectiva del extremo de la pértiga de rescate en una configuración de giro y articulación en el extremo;  Figure 1 shows a schematic perspective view of the end of a rescue pole, according to an embodiment of an articulated arm; Figure 2 shows a schematic perspective view of the end of the rescue pole in a configuration of rotation and articulation at the end;
La figura 3 muestra una vista esquemática en perspectiva del extremo de la pértiga de rescate, en una configuración de articulación y giro en el extremo;  Figure 3 shows a schematic perspective view of the end of the rescue pole, in a configuration of articulation and turning at the end;
La figura 4 muestra una vista esquemática en perspectiva de un primer tipo de pinza simétrica accionada por medio de dos piñones accionados por un husillo en el módulo motorizado portador de la pinza;  Figure 4 shows a schematic perspective view of a first type of symmetrical clamp driven by means of two pinions driven by a spindle in the motorized module carrying the clamp;
La figura 5 muestra una vista esquemática en perspectiva de una primera pareja de elementos accesorios para ser dispuestos en los extremos de la pinza de la figura 4, utilizada en el rescate mediante apertura;  Figure 5 shows a schematic perspective view of a first pair of accessory elements to be arranged at the ends of the clamp of Figure 4, used in the rescue by opening;
La figura 6 muestra una vista esquemática en perspectiva de una segunda pareja de elementos accesorios para ser dispuestos en la pinza de la figura 4;  Figure 6 shows a schematic perspective view of a second pair of accessory elements to be arranged in the clamp of Figure 4;
La figura 7 muestra una vista esquemática en perspectiva de una tercera pareja de elementos accesorios para ser dispuestos en la pinza de la figura 4, de uso en el rescate de productos tubulares;  Figure 7 shows a schematic perspective view of a third pair of accessory elements to be arranged in the clamp of Figure 4, for use in the rescue of tubular products;
La figura 8 muestra una vista esquemática en perspectiva de un segundo tipo de pinza, accionado mediante husillo que desplaza longitudinalmente el soporte de accionamiento de un brazo lateral;  Figure 8 shows a schematic perspective view of a second type of gripper, driven by a spindle that longitudinally displaces the drive support of a lateral arm;
La figura 9 muestra una vista esquemática en perspectiva de un primer tipo de accesorio de pinza acoplable a la pinza de la figura 8;  Figure 9 shows a schematic perspective view of a first type of clip attachment engageable with the clip of Figure 8;
La figura 10 muestra una vista esquemática en perspectiva de un segundo tipo de accesorio de pinza acoplable a la pinza de la figura 8;  Figure 10 shows a schematic perspective view of a second type of clip attachment engageable with the clip of Figure 8;
La figura 1 1 muestra una vista esquemática en perspectiva de un tercer tipo de accesorio de pinza acoplable a la pinza de la figura 8;  Figure 1 1 shows a schematic perspective view of a third type of clip attachment engageable with the clip of Figure 8;
La figura 12 muestra una vista esquemática en perspectiva de un tercer tipo de pinza asimétrica accionada por medio de piñones, provisto uno de ellos de un brazo que actúa sobre una corredera guiada;  Figure 12 shows a schematic perspective view of a third type of asymmetric clamp driven by means of pinions, one of them provided with an arm acting on a guided slide;
La figura 13 muestra una vista esquemática en perspectiva de un primer tipo de accesorio, de recogida, acoplable a la pinza de la figura 12; y Figure 13 shows a schematic perspective view of a first type of accessory, collection, coupled to the clamp of Figure 12; Y
La figura 14 muestra una vista esquemática en perspectiva de un segundo tipo de accesorio, de corte, acoplable a la pinza de la figura 12. Figure 14 shows a schematic perspective view of a second type of cutting attachment, engageable with the clip of Figure 12.
HOJA DE REEMPLAZO (REGLA 26) Descripción detallada de los modos de realización de la invención REPLACEMENT SHEET (RULE 26) DETAILED DESCRIPTION OF THE EMBODIMENTS OF THE INVENTION
Como se ha indicado anteriormente, la invención consiste en una herramienta de manipulación y rescate de objetos, normalmente a profundidad desde el lugar de operación, y particularmente para el rescate de objetos en la piscina o en la vasija del reactor de una central nuclear. No obstante, la herramienta de la invención podría igualmente ser utilizada en altura para operaciones que así lo puedan requerir.  As indicated above, the invention consists of a tool for manipulation and rescue of objects, normally at depth from the place of operation, and particularly for the rescue of objects in the pool or in the reactor vessel of a nuclear power plant. However, the tool of the invention could also be used in height for operations that may require it.
La herramienta consiste fundamentalmente en las siguientes partes: The tool consists mainly of the following parts:
• Una unidad de control (no representada en las figuras)  • A control unit (not shown in the figures)
• un elemento inferior de pértiga (1) portador de un cabezal de operación (3), que se une a la parte inferior de una pértiga de rescate (2); y  • a lower pole element (1) carrying an operating head (3), which is attached to the lower part of a rescue pole (2); Y
• Unos elementos de conexión entre la unidad de control y el cabezal de operación (3).  • Connection elements between the control unit and the operating head (3).
La unidad de control está normalmente situada fuera de la piscina, o incluso fuera de la sala en la que se sitúa la piscina, e incluye: The control unit is usually located outside the pool, or even outside the room in which the pool is located, and includes:
• Medios de suministro de energía a los distintos elementos de la pértiga de rescate.  • Means of energy supply to the different elements of the rescue pole.
Los medios de suministro de energía pueden proceder de una alimentación externa suministrada por la propia central, o estar formados por acumuladores eléctricos en la propia unidad de control.  The energy supply means can come from an external supply supplied by the plant itself, or be formed by electric accumulators in the control unit itself.
Y según realización preferida:  And according to preferred embodiment:
• Medios de gobierno de los distintos movimientos y operaciones de los distintos elementos del cabezal de operación (3);  • Means of governing the different movements and operations of the different elements of the operation head (3);
• Medios de recepción de información relativa a la posición y fuerzas ejercidas por los distintos elementos de la pértiga, de visualización imágenes tomadas en la zona de operación, y medios de registro de los distintos parámetros, así como la monitorización de dichos parámetros e imágenes  • Means of receiving information regarding the position and forces exerted by the different elements of the pole, viewing images taken in the area of operation, and means of recording the various parameters, as well as monitoring said parameters and images
• Medios de control de medios de iluminación, pudiendo dichos medios de iluminación ser una iluminación localizada (20) en la zona de la herramienta de operación, y/o una iluminación general;  • means for controlling lighting means, said lighting means being able to be a localized illumination (20) in the area of the operating tool, and / or general lighting;
Para el uso de la invención se emplea una pértiga, formada normalmente por un conjunto de elementos de pértiga, que pueden ser unidos entre sí mediante un medio de unión, por ejemplo, a rosca, mediante tornillos, un cierre elástico de bayoneta, u otros, estos elementos de pértiga constituyen, una vez unidos entre sí un único cuerpo y se comportan como una única barra. Comprende la invención: For the use of the invention a pole is used, normally formed by a set of pole elements, which can be joined together by means of attachment, for example, screwed, by screws, a bayonet elastic closure, or other , these pole elements constitute, once joined together a single body and behave as a single bar. Understand the invention:
HOJA DE REEMPLAZO (REGLA 26) • Un elemento inferior de pértiga (1), que comprende además de la unión con los elementos superiores, un medio de unión para los elementos de operación; REPLACEMENT SHEET (RULE 26) • A lower pole element (1), which also comprises, in addition to the connection with the upper elements, a joining means for the operating elements;
• Un cabezal de operación (3), que está formado por uno o más módulos motorizados • An operation head (3), which is formed by one or more motorized modules
(4,5,6); y (4,5,6); Y
• Al menos una herramienta de operación (10, 1 1 , 12).  • At least one operation tool (10, 11, 12).
Los elementos de conexión entre la unidad de control y el cabezal de operación (3) están formados por cables eléctricos y de transmisión de datos, y según formas de realización no preferidas, de conducciones hidráulicas o neumáticas. The connecting elements between the control unit and the operating head (3) are formed by electrical and data transmission cables, and according to non-preferred embodiments, of hydraulic or pneumatic conduits.
• Las conexiones del cabezal de operación (3) con la unidad de control se realiza mediante un único cable de varios hilos que se acoplan a respectivos conectores (21) de dicho cabezal de operación (3). Un módulo motorizado (4,5,6) se conecta con la unidad de control o con otro módulo motorizado, mediante un único cable. Está previsto que los módulos motorizados estén provistos de dos conectores, un conector "receptor" y un conector "emisor", de modo que el módulo motorizado unido al elemento inferior de la pértiga (1) tendrá una única conexión con la unidad de control, y en caso de haber más módulos motorizados, cada uno de los sucesivos se conectará únicamente al módulo motorizado precedente. Dicho de otro modo, solo un primer módulo motorizado se conecta con la unidad de control, y los demás módulos motorizados están conectados en serie al primero. Entre el conector emisor y el conector receptor de cada módulo motorizado hay una conexión puente de los cables (y posiciones del conector) no utilizados en dicho módulo. De este modo, un comando de la unidad de control gobernará o actuará únicamente sobre un determinado módulo motorizado de la manera prevista, con independencia de la forma en que estén los módulos motorizados conectados entre sí. Además, puede determinarse mediante dichas conexiones la forma en que están montados dichos módulos motorizados (4,5,6). • The connections of the operation head (3) with the control unit is made by means of a single cable with several wires that are coupled to respective connectors (21) of said operation head (3). A motorized module (4,5,6) is connected to the control unit or to another motorized module, by means of a single cable. It is provided that the motorized modules are provided with two connectors, a "receiver" connector and an "emitter" connector, so that the motorized module attached to the lower element of the pole (1) will have a single connection with the control unit, and in case there are more motorized modules, each one of the successive ones will be connected only to the previous motorized module. In other words, only a first motorized module is connected to the control unit, and the other motorized modules are connected in series to the first one. Between the emitter connector and the receiver connector of each motorized module there is a jumper connection of the cables (and connector positions) not used in said module. In this way, a command of the control unit will govern or act only on a certain motorized module in the manner intended, regardless of the way in which the motorized modules are connected to each other. Furthermore, the way in which said motorized modules (4,5,6) are mounted can be determined by said connections.
El elemento inferior de la pértiga (1), según realización preferente, comprenderá además una cámara de toma de imágenes (7). No obstante, la cámara de toma de imágenes podría estar situada en otras posiciones, en el cabezal de operación (cámara 25), o en ambos sitios. The lower element of the pole (1), according to a preferred embodiment, will also comprise an image taking chamber (7). However, the image taking chamber could be located in other positions, in the operation head (camera 25), or both.
Además, de manera que puede estar combinado con la cámara o ser independiente de ella, está previsto que también la pértiga y/o el cabezal de operación esté provisto de un dispositivo de iluminación. De manera particular, el módulo motorizado portador de la herramienta de operación está provisto de iluminación localizada (20), preferentemente dispuesta de manera circundante al soporte de dicha herramienta de operación. In addition, so that it can be combined with the camera or be independent of it, it is provided that the pole and / or the operating head is also provided with a lighting device. In particular, the motorized module carrying the operating tool is provided with localized illumination (20), preferably arranged in a manner surrounding the support of said operating tool.
HOJA DE REEMPLAZO (REGLA 26) Está previsto que la cámara de toma de imágenes (7) situada en el elemento inferior de la pértiga (1) esté provista de un motor que permita su orientación bidimensional o tridimensional. REPLACEMENT SHEET (RULE 26) It is provided that the image taking chamber (7) located in the lower element of the pole (1) is provided with a motor that allows its two-dimensional or three-dimensional orientation.
Como se ha indicado, el extremo inferior de la pértiga (1) está provisto de al menos un módulo motorizado (4,5, ó 6), y normalmente de dos o más módulos motorizados. As indicated, the lower end of the pole (1) is provided with at least one motorized module (4,5, or 6), and usually with two or more motorized modules.
La unión de estos módulos configura al menos dos tipos distintos de movimiento: The union of these modules configures at least two different types of movement:
• Un movimiento de giro (o muñeca) respecto a un eje longitudinal; el movimiento de giro tiene lugar entre dos módulos motorizados, y cambia la orientación del extremo de operación, pero no su posición; a tal efecto se proporciona un elemento de giro (23) que conecta dos módulos motorizados (4,6).  • A turning movement (or wrist) with respect to a longitudinal axis; the turning movement takes place between two motorized modules, and changes the orientation of the operating end, but not its position; for this purpose, a turning element (23) is provided which connects two motorized modules (4,6).
• Un movimiento de abatimiento (o codo) de un módulo respecto a otro, en el que se cambia la posición del extremo de operación; a tal efecto se proporciona un elemento de abatimiento o articulación (22), que se describirá más adelante.  • A movement of abatement (or elbow) of one module with respect to another, in which the position of the operation end is changed; for this purpose, a chill or hinge element (22) is provided, which will be described later.
Una primera opción consiste en la colocación en el extremo inferior de la pértiga (1) un único módulo motorizado (5) portador de la herramienta de operación. No se producirá giro de la herramienta respecto a la pértiga. A first option consists in placing at the lower end of the pole (1) a single motorized module (5) carrying the operating tool. There will be no rotation of the tool with respect to the pole.
Conforme a una segunda opción en el extremo inferior de la pértiga se coloca una pareja de módulos motorizados (4,5) provistos de una unión de abatimiento o articulación (22) entre sí, en la que el último módulo motorizado es el portador de la herramienta de operación. According to a second option, at the lower end of the pole, a pair of motorized modules (4,5) is fitted with a hinged connection (22) to each other, in which the last motorized module is the carrier of the operation tool.
Una opción alternativa a la anterior comprende también dos módulos motorizados (5,6), pero con una unión entre sí por medio del elemento de giro (23). Sin embargo, esta opción es poco eficaz respecto a la primera opción, ya que un mero giro manual de la pértiga lograría el mismo efecto. An alternative option to the previous one also comprises two motorized modules (5,6), but with a connection to each other by means of the turning element (23). However, this option is not very effective with respect to the first option, since a mere manual rotation of the pole would achieve the same effect.
Conforme a una tercera opción, el extremo inferior de la pértiga (1) está provisto de tres módulos motorizados (4,5,6), una pareja de ellos (4,5) unidos entre sí por medio de una unión con un elemento de articulación (22) y la otra por medio de una unión con un elemento de giro (23). Esta tercera opción admite dos variantes, una en la que la articulación está arriba y el giro abajo, y otra en la que es el giro el que se sitúa arriba y la articulación abajo. According to a third option, the lower end of the pole (1) is provided with three motorized modules (4,5,6), a pair of them (4,5) joined together by means of a connection with an element of articulation (22) and the other by means of a joint with a turning element (23). This third option allows two variants, one in which the joint is up and the down, and another in which it is the turn that is located above and the joint below.
El elemento de unión por abatimiento comprende un primer piñón cónico (29) coaxial con el eje del módulo motorizado (4) conductor, y una pareja de piñones cónicos (27,28) conducidos cuyo eje es transversal y coaxial con el de articulación (22) de los módulos The folding connection element comprises a first conical pinion (29) coaxial with the axis of the motorized driving module (4), and a pair of conical pinions (27, 28) driven whose axis is transverse and coaxial with the articulation pinion (22). ) of the modules
HOJA DE REEMPLAZO (REGLA 26) motorizados (4,5) entre sí. Uno de los piñones cónicos (27) tiene un giro no restringido y el otro piñón cónico (28) es solidario al módulo motorizado (5), de modo que el giro de dicho piñón cónico (28) implica el movimiento del módulo motorizado (5). Los módulos motorizados (4,5) están provistos de unos brazos (29). El mecanismo descrito puede formar parte de los módulos motorizados (4,5) o estar formados por accesorios de acoplamiento. REPLACEMENT SHEET (RULE 26) motorized (4,5) with each other. One of the conical pinions (27) has an unrestricted rotation and the other conical pinion (28) is integral with the motorized module (5), so that the rotation of said conical pinion (28) involves the movement of the motorized module (5). ). The motorized modules (4,5) are provided with arms (29). The mechanism described can be part of the motorized modules (4,5) or be formed by coupling accessories.
El módulo motorizado (6) que porta de la herramienta de operación, que se sitúa en el extremo libre del cabezal de operación (3), está provisto de un eje que forma o porta un sinfín, que es el que actúa sobre las distintas herramientas de operación. The motorized module (6) that carries the operating tool, which is located at the free end of the operation head (3), is provided with an axis that forms or carries an endless screw, which is the one that acts on the different tools of operation.
Para el dispositivo de la invención se han previsto distintas herramientas de operación, como sigue: Various operating tools are provided for the device of the invention, as follows:
• Una pinza (o alicate) (10) accionada por una pareja de piñones (42) movidos por el sinfín del módulo motorizado (6) portador. Tiene un cuerpo de soporte (41) que aloja la pareja de piñones (42), con un anclaje (43) al módulo motorizado (6). El movimiento de los piñones (42) mueve un primer brazo (en ambos lados, ya que el movimiento es simétrico) que actúa mediante un paralelogramo articulado (o mecanismo similar) sobre las mordazas (44) de la pinza (10);  • A clamp (or pliers) (10) driven by a pair of pinions (42) moved by the auger of the motorized module (6) carrier. It has a support body (41) that houses the pair of pinions (42), with an anchor (43) to the motorized module (6). The movement of the pinions (42) moves a first arm (on both sides, since the movement is symmetrical) which acts by means of an articulated parallelogram (or similar mechanism) on the jaws (44) of the clamp (10);
Las mordazas de la pinza están provistas de un agujero (45) en cada uno de sus lados, que permite la fijación de distintos accesorios de operación, como los que pueden verse en las figuras 5 a 7. Dichos accesorios forman exteriormente una ranura longitudinal (52) sobre la que se inserta la parte interior de las mordazas The jaws of the clamp are provided with a hole (45) on each of its sides, which allows the attachment of various operating accessories, such as can be seen in figures 5 to 7. These accessories externally form a longitudinal groove ( 52) on which the inner part of the jaws is inserted
(44) , y están provistos de un agujero (51) que permitan su fijación sobre el agujero(44), and they are provided with a hole (51) that allow their fixation on the hole
(45) de la mordaza. Estos accesorios, sin carácter limitativo, son: (45) of the gag. These accessories, without limitation, are:
o Una sujeción de dentro a fuera (Fig. 5), de uso en la sujeción de piezas huecas;  o A fastening from inside to outside (Fig. 5), for use in the fastening of hollow parts;
o Una sujeción de mordaza estriada (de fuera a dentro) (Fig. 6), de propósito general; o  o A grooved clamp (from outside to inside) (Fig. 6), general purpose; or
o Una sujeción de mordaza arqueada (de fuera a dentro), idónea para el rescate de fragmentos de tubo o piezas redondeadas.  o An arched grip clamp (from outside to inside), suitable for the rescue of fragments of tube or rounded pieces.
• Una pinza de accionamiento por husillo (11). Esta pinza tiene una mayor precisión que la anterior, con un movimiento más lento. Comprende un soporte (62) con una pieza de unión (61) al módulo motorizado (6) portador. Comprende un husillo (63) movido por el módulo motorizado (6) y una corredera (64) que desplaza dicho husillo. La corredera mueve un mecanismo articulado (66) que a su vez abre o cierra la mordaza (65). • One spindle drive clamp (11). This clamp has a higher precision than the previous one, with a slower movement. It comprises a support (62) with a connecting piece (61) to the motorized module (6) carrying. It comprises a spindle (63) moved by the motorized module (6) and a slide (64) that moves said spindle. The slide moves an articulated mechanism (66) which in turn opens or closes the clamp (65).
Al igual que la pinza del punto anterior, esta pinza está provista de un conjunto de accesorios, provistos de un medio de fijación por medio de una ranura transversal  Like the clamp of the previous point, this clamp is provided with a set of accessories, provided with a fixing means by means of a transverse groove
HOJA DE REEMPLAZO (REGLA 26) (61) y agujero (62) para un tornillo, y que, sin carácter limitativo, pueden ser los siguientes: REPLACEMENT SHEET (RULE 26) (61) and hole (62) for a screw, and which, without limitation, may be the following:
o Una sujeción de mordaza estriada (63);  o A grooved jaw clamp (63);
o Una sujeción de mordaza arqueada, con elementos complementarios, en la que uno de los lados está formado por una pareja de garras (65) separadas entre sí por una ranura (66) y el otro por una sola garra (67), de modo que la garra (67) puede atravesar la ranura (66) existente entre la pareja de garras (65) en su operación de cierre;  An arched clamp attachment, with complementary elements, in which one of the sides is formed by a pair of claws (65) separated from one another by a groove (66) and the other by a single claw (67), so that the claw (67) can pass through the slot (66) existing between the pair of claws (65) in its closing operation;
o Una sujeción mixta de mordaza estriada (68) y filo de corte o prensado (67); Una pinza de barrido y corte (12). Comprende un soporte (71) con un medio de anclaje (72) al módulo motorizado (6). Está provisto de un engrane entre el husillo de accionamiento del módulo motorizado y al menos un piñón (73) solidario a un brazo (74). Normalmente habrá dos piñones, de los cuales uno tendrá efectos resistentes, pero no mecánicos. El giro del piñón (73) por medio del giro del husillo producirá un giro del brazo (74) y por medio de un sistema mecánico, el desplazamiento de una corredera (75) sobre una guía (76). El soporte (71) está provisto de una sujeción (77) para un elemento fijo y la corredera (75) de una sujeción (78) para un elemento móvil. Las sujeciones (77,78) están alineadas en un mismo plano.  o A mixed grip with grooved jaw (68) and cutting or pressing edge (67); A sweeping and cutting clip (12). It comprises a support (71) with an anchoring means (72) to the motorized module (6). It is provided with a gear between the driving spindle of the motorized module and at least one pinion (73) integral with an arm (74). Normally there will be two pinions, of which one will have resistant effects, but not mechanical ones. The rotation of the pinion (73) by means of the rotation of the spindle will produce a rotation of the arm (74) and by means of a mechanical system, the displacement of a slide (75) on a guide (76). The support (71) is provided with a holder (77) for a fixed element and the slide (75) of a holder (78) for a moving element. The clips (77,78) are aligned in the same plane.
Se han previsto distintos accesorios para esta pinza, tales como los que, sin carácter limitativo, se exponen a continuación:  Various accessories for this clamp have been provided, such as those that, without limitation, are set out below:
o Un dispositivo recogedor, con una cazoleta (81) y un empujador (82).  o A pick-up device, with a bowl (81) and a pusher (82).
Normalmente la cazoleta (81) estará en la parte fija y el empujador (82) en la parte móvil.  Normally the bowl (81) will be in the fixed part and the pusher (82) in the moving part.
o Un dispositivo de corte, con una cuchilla (83) en uno de los lados, y una ranura (84) en el otro. En general la cuchilla (83) se situará en la parte móvil y la ranura en la parte fija; no obstante, la parte fija y móvil pueden permutarse a conveniencia.  o A cutting device, with a blade (83) on one side, and a slot (84) on the other. In general, the blade (83) will be located in the moving part and the groove in the fixed part; however, the fixed and mobile part can be exchanged at convenience.
HOJA DE REEMPLAZO (REGLA 26) REPLACEMENT SHEET (RULE 26)

Claims

REIVINDICACIONES
1. - Herramienta de manipulación y rescate de objetos a profundidad, que utiliza una pértiga (2) portadora, generalmente formada por una pluralidad de elementos de pértiga yuxtapuestos, caracterizada por que comprende. 1. - Tool for manipulation and rescue of objects at depth, using a pole (2) carrier, generally formed by a plurality of juxtaposed pole elements, characterized by comprising.
• Una unidad de control;  • A control unit;
• un elemento inferior de pértiga (1) portador de un cabezal de operación (3); y • a lower pole element (1) carrying an operation head (3); Y
• Unos elementos de conexión entre la unidad de control y el cabezal de operación (3). • Connection elements between the control unit and the operating head (3).
2. - Herramienta de manipulación y rescate de objetos a profundidad, según la reivindicación 1 , caracterizada por que la unidad de control incluye: 2. - Tool for manipulation and rescue of objects in depth, according to claim 1, characterized in that the control unit includes:
• Medios de suministro de energía a los distintos elementos del elemento inferior de pértiga, pudiendo dichos medios de suministro de energía proceder de una alimentación externa, o estar formados por acumuladores eléctricos en la propia unidad de control.  • Means of energy supply to the different elements of the lower pole element, said power supply means being able to come from an external supply, or be formed by electric accumulators in the control unit itself.
3. - Herramienta de manipulación y rescate de objetos a profundidad, según cualquiera de las reivindicaciones 1 a 2, caracterizada por que la unidad de control incluye: 3. Depth object manipulation and rescue tool according to any of claims 1 to 2, characterized in that the control unit includes:
• Medios de gobierno de los distintos movimientos y operaciones de los distintos elementos del cabezal de operación (3);  • Means of governing the different movements and operations of the different elements of the operation head (3);
• Medios de recepción de información relativa al menos uno de:  • Means of receiving information related to at least one of:
o posición y/o fuerzas ejercidas por los distintos elementos del cabezal de operación,  or position and / or forces exerted by the different elements of the operation head,
o visualización imágenes tomadas en la zona de operación;  or display images taken in the operation area;
• medios de registro de los distintos parámetros, así como la monitorización de dichos parámetros e imágenes  • means of recording the different parameters, as well as the monitoring of said parameters and images
• Medios de control de medios de iluminación.  • Means of control of lighting means.
4. - Herramienta de manipulación y rescate de objetos a profundidad, según cualquiera de las reivindicaciones 1 a 3, caracterizada por que el elemento inferior de pértiga (1), comprende una unión con los elementos de pértiga (2) superiores, y un medio de unión para el cabezal de operación (3). 4. Depth object handling and rescue tool according to any of claims 1 to 3, characterized in that the lower pole element (1), comprises a connection with the upper pole elements (2), and a means connection for the operating head (3).
5. - Herramienta de manipulación y rescate de objetos a profundidad, según cualquiera de las reivindicaciones 1 a 4, caracterizada por que el cabezal de operación (3) está formado por uno o más módulos motorizados (4,5,6); y por que el extremo libre del módulo 5. Depth object manipulation and rescue tool according to any of claims 1 to 4, characterized in that the operation head (3) is formed by one or more motorized modules (4,5,6); and why the free end of the module
HOJA DE REEMPLAZO (REGLA 26) motorizado situado en último lugar está provisto de al menos una herramienta de operación (10, 11 , 12). REPLACEMENT SHEET (RULE 26) motorized located last is provided with at least one operating tool (10, 11, 12).
6. - Herramienta de manipulación y rescate de objetos a profundidad, según la reivindicación 5, caracterizada por que los elementos de conexión entre la unidad de control y el cabezal de operación (3) están formados por uno o más de los siguientes: 6. - Tool for handling and rescue of objects at depth, according to claim 5, characterized in that the connection elements between the control unit and the operation head (3) are formed by one or more of the following:
• cables eléctricos  • electric cables
• cables de transmisión de datos  • data transmission cables
• conducciones hidráulicas  • hydraulic pipes
• conducciones neumáticas.  • pneumatic pipes.
7. - Herramienta de manipulación y rescate de objetos a profundidad, según la reivindicación 6, caracterizada por que: 7. - Tool for manipulation and rescue of objects at depth, according to claim 6, characterized in that:
• las conexiones entre la unidad de control y el cabezal de operación se realizan mediante un único cable de varios hilos que se acoplan a respectivos conectores (21) de dicho cabezal de operación (3); y  • the connections between the control unit and the operating head are made by means of a single cable with several wires that are coupled to respective connectors (21) of said operation head (3); Y
• únicamente un primer módulo motorizado se conecta con la unidad de control, y los demás módulos motorizados están conectados en serie al primero; y  • only a first motorized module is connected to the control unit, and the other motorized modules are connected in series to the first one; Y
• la unidad de control gobierna cada módulo motorizado con independencia de la posición de conexión en la que se encuentre.  • the control unit governs each motorized module regardless of the connection position in which it is located.
8. - Herramienta de manipulación y rescate de objetos a profundidad, según cualquiera de las reivindicaciones 5 a 7, caracterizada por que el módulo motorizado portador de la herramienta de operación está provisto de una cámara de toma de imágenes. 8. Depth object manipulation and rescue tool according to any of claims 5 to 7, characterized in that the motorized module carrying the operating tool is provided with an image taking chamber.
9. - Herramienta de manipulación y rescate de objetos a profundidad, según cualquiera de las reivindicaciones 5 a 8, caracterizada por que el módulo motorizado portador de la herramienta de operación está provisto de un dispositivo de iluminación localizada (20). 9. Depth object manipulation and rescue tool according to any of claims 5 to 8, characterized in that the motorized module carrying the operating tool is provided with a localized lighting device (20).
10. - Herramienta de manipulación y rescate de objetos a profundidad, según la reivindicación 9, caracterizada por que el dispositivo de iluminación localizada (20) está dispuesto perimetralmente de manera circundante en el soporte de la herramienta de operación. 10. - Tool for manipulation and rescue of objects at depth, according to claim 9, characterized in that the localized lighting device (20) is arranged perimetrally surrounding the support of the operating tool.
1 1. - Herramienta de manipulación y rescate de objetos a profundidad, según cualquiera de las reivindicaciones 5 a 10, caracterizada por que los módulos motorizados forman al menos dos tipos distintos de unión: 1. Tool for manipulation and rescue of objects at depth, according to any of claims 5 to 10, characterized in that the motorized modules form at least two different types of connection:
• una unión de giro respecto a un eje longitudinal, en que se cambia la orientación de extremo de operación;  • a rotating union with respect to a longitudinal axis, in which the operating end orientation is changed;
HOJA DE REEMPLAZO (REGLA 26) • Una unión articulada por abatimiento de un módulo respecto a otro, en el que se cambia la posición del extremo de operación. REPLACEMENT SHEET (RULE 26) • An articulated joint by folding one module over another, in which the position of the operating end is changed.
12. - Herramienta de manipulación y rescate de objetos a profundidad, según la reivindicación 11 , caracterizada por que el cabezal de operación está configurado de una de las siguientes formas: 12. - Tool for manipulation and rescue of objects at depth, according to claim 11, characterized in that the operation head is configured in one of the following ways:
• colocación en el extremo inferior de la pértiga (1) un único módulo motorizado (5) portador de la herramienta de operación;  • positioning on the lower end of the pole (1) a single motorized module (5) carrying the operating tool;
• colocación en el extremo inferior de la pértiga una pareja de módulos motorizados (4,5) provistos de una unión de abatimiento o articulación (22) entre sí, en la que el último módulo motorizado es el portador de la herramienta de operación;  • placing at the lower end of the pole a pair of motorized modules (4,5) provided with a folding or articulating joint (22) with each other, in which the last motorized module is the carrier of the operating tool;
• colocación de dos módulos motorizados (5,6) con una unión entre sí por medio de un elemento de giro (23);  • positioning of two motorized modules (5,6) with a joint to each other by means of a turning element (23);
• colocación de tres módulos motorizados (4,5,6) en el extremo inferior de la pértiga (1), una pareja de ellos (4,5) unidos entre sí por medio de una unión con un elemento de articulación (22) y la otra por medio de una unión con un elemento de giro (23), en la que la articulación está arriba, unida al extremo inferior de la pértiga y el giro abajo;  • positioning of three motorized modules (4,5,6) at the lower end of the pole (1), a pair of them (4,5) joined together by means of a joint with an articulation element (22) and the other by means of a connection with a turning element (23), in which the joint is at the top, attached to the lower end of the pole and the downward rotation;
• colocación de tres módulos motorizados (4,5,6) en el extremo inferior de la pértiga (1), una pareja de ellos (4,5) unidos entre sí por medio de una unión con un elemento de articulación (22) y la otra por medio de una unión con un elemento de giro (23), en la que la articulación está abajo, y el giro arriba, con uno de los módulos motorizados fijado al extremo inferior de la pértiga.  • positioning of three motorized modules (4,5,6) at the lower end of the pole (1), a pair of them (4,5) joined together by means of a joint with an articulation element (22) and the other by means of a connection with a turning element (23), in which the joint is down, and the rotation up, with one of the motorized modules fixed to the lower end of the pole.
13. - Herramienta de manipulación y rescate de objetos a profundidad, según cualquiera de las reivindicaciones 1 1 a 12, caracterizada por que la unión por abatimiento comprende un primer piñón cónico (29) coaxial con el eje del módulo motorizado (4) conductor, y una pareja de piñones cónicos (27,28) conducidos cuyo eje es transversal y coaxial con el de articulación (22) de los módulos motorizados (4,5) entre sí, en la que uno de los piñones cónicos (27) tiene un giro no restringido y el otro piñón cónico (28) es solidario al módulo motorizado conducido (5), y en la que los módulos motorizados (4,5) están provistos de unos brazos (29). 13. - Tool for manipulation and rescue of objects at depth, according to any of claims 1 to 12, characterized in that the connection by abatement comprises a first conical pinion (29) coaxial with the axis of the motorized module (4) driver, and a pair of conical pinions (27, 28) driven whose axis is transverse and coaxial with that of articulation (22) of the motorized modules (4,5) to each other, in which one of the conical pinions (27) has a unrestricted rotation and the other conical pinion (28) is integral with the driven motorized module (5), and in which the motorized modules (4,5) are provided with arms (29).
14. - Herramienta de manipulación y rescate de objetos a profundidad, según cualquiera de las reivindicaciones 5 a 13, caracterizada por que comprende al menos una de las siguientes herramientas de operación: 14. Depth object manipulation and rescue tool according to any of claims 5 to 13, characterized in that it comprises at least one of the following operating tools:
• Una pinza (o alicate) (10) accionada por una pareja de piñones (42) movidos por el sinfín del módulo motorizado (6) portador.  • A clamp (or pliers) (10) driven by a pair of pinions (42) moved by the auger of the motorized module (6) carrier.
• Una pinza de accionamiento por husillo (1 1).  • One spindle drive clamp (1 1).
HOJA DE REEMPLAZO (REGLA 26) • Una pinza de barrido y corte (12). REPLACEMENT SHEET (RULE 26) • A sweeping and cutting clip (12).
15. - Herramienta de manipulación y rescate de objetos a profundidad, según la reivindicación 14, caracterizada por que la pinza (10) está formada por un cuerpo de soporte (41) que aloja la pareja de piñones (42), con un anclaje (43) al módulo motorizado (6), en el que los piñones (42) mueven un primer brazo en ambos lados que actúa mediante un paralelogramo articulado (o mecanismo similar) sobre las mordazas (44) de la pinza (10). 15. Depth object handling and rescue tool, according to claim 14, characterized in that the clamp (10) is formed by a support body (41) that houses the pair of pinions (42), with an anchor ( 43) to the motorized module (6), in which the pinions (42) move a first arm on both sides acting through an articulated parallelogram (or similar mechanism) on the jaws (44) of the clamp (10).
16. - Herramienta de manipulación y rescate de objetos a profundidad, según la reivindicación 15, caracterizada por que las mordazas de la pinza están provistas de un agujero (45) en cada uno de sus lados, que permite la fijación de distintos accesorios de operación, que forman exteriormente una ranura longitudinal (52) sobre la que se inserta la parte interior de las mordazas (44), y están provistos de un agujero (51) que permitan su fijación sobre el agujero (45) de la mordaza. 16. Tool for manipulation and rescue of objects at depth, according to claim 15, characterized in that the jaws of the clip are provided with a hole (45) on each of its sides, which allows the attachment of various operating accessories , which externally form a longitudinal groove (52) on which the inner part of the jaws (44) is inserted, and are provided with a hole (51) that allows them to be fixed on the hole (45) of the jaw.
17. - Herramienta de manipulación y rescate de objetos a profundidad, según la reivindicación 16, caracterizada por que los accesorios son al menos uno de los siguientes:17. - Tool for manipulation and rescue of objects in depth, according to claim 16, characterized in that the accessories are at least one of the following:
• Una sujeción de dentro a fuera, de uso en la sujeción de piezas huecas; • A fastening from inside to outside, for use in the fastening of hollow pieces;
• Una sujeción de mordaza estriada, de propósito general; o  • A general purpose grooved clamp fixture; or
• Una sujeción de mordaza arqueada, para el rescate de fragmentos de tubo o piezas redondeadas.  • An arched grip clamp, for the rescue of tube fragments or rounded pieces.
18. - Herramienta de manipulación y rescate de objetos a profundidad, según la reivindicación 14, caracterizada por que la pinza de accionamiento por husillo (1 1) comprende un soporte (62) con una pieza de unión (61) al módulo motorizado (6) portador, y un husillo (63) movido por el módulo motorizado (6) y una corredera (64) que desplaza dicho husillo, que mueve un mecanismo articulado (66) que a su vez abre o cierra la mordaza (65). 18. Depth object manipulation and rescue tool according to claim 14, characterized in that the spindle drive clamp (1 1) comprises a support (62) with a connection piece (61) to the motorized module (6). ) carrier, and a spindle (63) moved by the motorized module (6) and a slide (64) that displaces said spindle, which moves an articulated mechanism (66) which in turn opens or closes the clamp (65).
19. - Herramienta de manipulación y rescate de objetos a profundidad, según la reivindicación 18, caracterizada por que la pinza de accionamiento por husillo (1 1) comprende uno o más de los siguientes accesorios: 19. Depth object manipulation and rescue tool according to claim 18, characterized in that the spindle drive clamp (11) comprises one or more of the following accessories:
• Una sujeción de mordaza estriada (63);  • A fluted jaw clamp (63);
• Una sujeción de mordaza arqueada, con elementos complementarios, en la que uno de los lados está formado por una pareja de garras (65) separadas entre sí por una ranura (66) y el otro por una sola garra (67), de modo que la garra (67) puede atravesar la ranura (66) existente entre la pareja de garras (65) en su operación de cierre;  • An arched grip clamp, with complementary elements, in which one of the sides is formed by a pair of claws (65) separated from one another by a groove (66) and the other by a single claw (67), so that the claw (67) can pass through the slot (66) existing between the pair of claws (65) in its closing operation;
HOJA DE REEMPLAZO (REGLA 26) • Una sujeción mixta de mordaza estriada (68) y filo de corte o prensado (67). REPLACEMENT SHEET (RULE 26) • A mixed grip with grooved jaw (68) and cutting or pressing edge (67).
20. - Herramienta de manipulación y rescate de objetos a profundidad, según la reivindicación 14, caracterizada por que la pinza de barrido y corte (12) comprende un soporte (71) con un medio de anclaje (72) al módulo motorizado (6) y está provista de un engrane entre el husillo de accionamiento del módulo motorizado y al menos un piñón (73) solidario a un brazo (74), comprende un brazo de accionamiento de un sistema mecánico, movido por el piñón (73) que actúa sobre una corredera (75) que se desplaza sobre una guía (76), en la que el soporte (71) comprende al menos una sujeción (77) para un elemento fijo y la corredera (75) comprende una sujeción (78) para un elemento móvil. 20. Depth object manipulation and rescue tool according to claim 14, characterized in that the scanning and cutting clamp (12) comprises a support (71) with an anchoring means (72) to the motorized module (6) and is provided with a gear between the driving spindle of the motorized module and at least one pinion (73) fixed to an arm (74), comprises a drive arm of a mechanical system, moved by the pinion (73) acting on a slide (75) that moves on a guide (76), in which the support (71) comprises at least one fastener (77) for a fixed element and the slide (75) comprises a fastener (78) for an element mobile.
21. - Herramienta de manipulación y rescate de objetos a profundidad, según la reivindicación 20, caracterizada por que la pinza de de barrido y corte (12) comprende uno o más de los siguientes accesorios: 21. Depth object manipulation and rescue tool, according to claim 20, characterized in that the scanning and cutting clamp (12) comprises one or more of the following accessories:
• Un dispositivo recogedor, con una cazoleta (81) y un empujador (82;  • A pick-up device, with a bowl (81) and a pusher (82;
• Un dispositivo de corte, con una cuchilla (83) en uno de los lados, y una ranura (84) o contracuchilla en el otro.  • A cutting device, with a blade (83) on one side, and a slot (84) or counterblade on the other.
22. - Herramienta de manipulación y rescate de objetos a profundidad, según cualquiera de las reivindicaciones 1 a 10, caracterizada por que el elemento inferior de la pértiga (1) comprende una cámara de toma de imágenes (7). 22. Depth object manipulation and rescue tool according to any of claims 1 to 10, characterized in that the lower element of the pole (1) comprises an image capture chamber (7).
23. - Herramienta de manipulación y rescate de objetos a profundidad, según la reivindicación 1 1 , caracterizada por que la cámara de toma de imágenes (7) está provista de un motor que permite su orientación bidimensional o tridimensional. 23. - Depth object manipulation and rescue tool, according to claim 1, characterized in that the image taking chamber (7) is provided with a motor that allows its two-dimensional or three-dimensional orientation.
HOJA DE REEMPLAZO (REGLA 26) REPLACEMENT SHEET (RULE 26)
PCT/ES2017/070639 2017-09-29 2017-09-29 Tool for handling and retrieving objects at depth WO2019063854A1 (en)

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IBORRA, A. ET AL.: "Robotized system for retrieving fallen objects within the reactor vessel of a nuclear power plant (PWR", INDUSTRIAL ELECTRONICS, 2000. ISIE 2000. PROCEEDINGS OF THE 2000 IEEE INTERNATIONAL SYMPOSIUM ON, vol. 2000, 2000, pages 529 - 534, XP010547991 *
ROADNARROWS HEKATEROS - MECHANICAL OVERVIEW, 10 February 2012 (2012-02-10), Retrieved from the Internet <URL:https://www.youtube.com/watch?v=131pd655wC4&index=5&list=PL1LKkgsb17sbdrZeMWSY_bpKteE3WtWrl> [retrieved on 20180618] *

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