FR2525799A1 - Instrument manipulator, esp. for inspecting nuclear fuel rods - where instrument can be driven along three coordinate axes and tilted - Google Patents

Abstract

The manipulator includes a travelling overhead bridge running along rails and using beams to support a horizontal roller track along which a trolley carring a vertical guide can be driven. A mast can be driven vertically in the guide. On the bottom end of the mast is a pivot mounting for a slideway (a) tilted by a cable. cable. In slideway (a) is a long slide carrying an instrument on one end and a counterweight on the other end. The manipulator can thus move the instrument through a bundle of long parallel objects. Used e.g. for the inspection of a bundle of nuclear fuel rods, welds etc. in a nuclear reactor.

Description

APPARATUS FOR POSITIONING AN INSTRUMENT RELATIVE TO A
A BEAM OF ELONGATE ORGANS.

 The present invention relates to a device for positioning an instrument by --------------------- with respect to a regular network of elongated members parallel to each other. others, these members, for example a bundle of tubes, delimiting between them, in a plane perpendicular to their longitudinal axis, several rectilinear and parallel passages of small width.

 There are many structures comprising a regular network of elongated and parallel members, and one can, for example, cite bundles of tubes. Sometimes the tubes are very close together so that they only leave very narrow passages between them. In certain applications, it is very desirable that members such as sensors used for monitoring the condition of the various tubes, can be introduced between the tubes, at any location in the bundle.

 This control does not pose a particularly important mechanical problem in general. However, it sometimes happens that the conditions set are so severe that this simple check poses difficult problems. For example, there are applications in which it is desirable that the control device introduced between the elongated members do not come into contact with them either because they are fragile, or because this contact can introduce disturbances. On the other hand, the surrounding conditions can complicate the resolution of this problem, by prohibiting close access.

 One of these very delicate applications is that of checking the condition of tubes, welds or tube attachments of a bundle used in a nuclear reactor.

In this application, the contact of any control instrument with the tubes must be avoided although the spaces left free between the tubes are extremely reduced.

 In the remainder of this patent application, we will consider the application of the invention to the verification of the state of the base of parallel tubes fixed on plates in a reactor. However, the invention --------- tion is absolutely not limited to this single application.

 For the application considered, the reactor tube bundle -------------------------------------- - ------------------------------ is raised when it must undergo a check. The beam is then only submerged under a few neutrals of water, but the control device according to the invention must however operate underwater.

Given the different construction characteristics of the reactor and of the structure which surrounds it, access to the spaces delimited between the tubes is hardly possible except in a horizontal direction. The positioning of a sensor therefore requires the disposition of the sensor Near the reactor, opposite the passage which must be explored and well aligned with this passage, then the introduction of the sensor, following a rectilinear path, without contact with the neighboring tubes.

 The invention relates to an apparatus, which allows precise postinenient of an instrument as well as flexible but reliable adjustments ensuring movement without risk of shock. The device has a high rigidity avoiding untimely contact with the tubes.

More specifically, the invention relates to an apparatus for positioning an instrument with respect to a regular network of elongated and parallel members delimiting between themselves, in a plane perpendicular to their longitudinal axis, several rectilinear and parallel passages of small width, the positioning being carried out with reference to a first orientation marker having a direction parallel to said passages and to a second displacement marker in a direction perpendicular to the direction of the first marker; this device includes
- a support structure,
- a raceway disposed in a plane parallel to the direction of the first orientation mark and provided with a first adjustment device parallel to this plane so that the rolling path can be set in direction perpendicular to said direction the first reference mark, and a second adjustment device acting in a direction perpendicular to the plane of said raceway,
- a trolley intended to move on the raceway and fitted with a device for driving the trainer along this raceway,
- a guide integral with the carriage and an elongated mAt placed in the guide which allows it to slide along 1 a direction parallel to the longitudinal axis of the mast and perpendicular to the plane of the raceway, but which ewt sins its rotation around this longitudinal axis , a drive device being intended to slide the lt in the guide,
- - a yoke mounted at one end of the mat and in which the hinges are articulated, a device allowing the orientation of the slide to be adjusted relative to the yoke, and
- an elongated saber, instrument support, placed in the. slide, a drive device being intended to move the saber in translation in the slide in a direction substantially parallel to the direction of the first orientation mark.

 In the type of application more specifically targeted for a beam in a reactor, the first orientation mark, the raceway and the saber are substantially horizontal, and the elongated members of the network and the tEt are substantially vertical.

 It is advantageous for the saber to carry a balancing assembly intended to reduce the forces which can be exerted on the device for adjusting the orientation of the slide and on the mAt. This balancing assembly may include a counterweight and a target and tensioner support device.

 The orientation mark is advantageously a horizontal rectilinear rail, parallel to the passages in the network of elongated members; the support structure can be a walkway intended to move on two parallel rails, one of which constitutes the orientation reference.

 The raceway advantageously comprises two rails, one of which has at least one support surface parallel to the plane of the raceway and the other of which has at least one support surface inclined relative to this plane.

 The carriage advantageously comprises at least three wheels intended to cooperate with each of the rails, two of the wheels being placed above each rail and a third being placed below. The carriage drive device advantageously comprises a rack secured to one of the rails of the raceway, and a pinion mounted on the carriage so that it can be driven in rotation.

 The guide advantageously comprises a rigid tube integral with the carriage and carrying at least two guide devices placed on either side of the raceway.

It is also advantageous for the mat to have a polygonal section, and for each of the guide devices to have several rollers placed in contact with several faces of the mat.

 The drive device intended to slide the mat in the guide advantageously comprises a rack placed along at least part of the mat, and a pinion mounts on the carriage or on the guide and sus ceptible. rotation.

 The saber advantageously has a lower surface intended to be supported by rollers carried by the slide; the device for driving the saber in translation advantageously comprises on the one hand, a longitudinal drive member which is carried by the saber and delimits cavities and, on the other hand, a pinion having teeth intended to cooperate with the cavities of this member and mounted on the pivot axis of the slide relative to the yoke.

 The pinion of the bran drive device is advantageously driven in rotation by a transmission arranged in the mast and controlled by a member placed near the end of the mast opposite to that which carries the yoke. The transmission advantageously comprises a chain housed inside the mast and passing on the one hand on a pinion integral with the gear for driving the saber and on the other hand on another pinion mounted at the other end of the mast and capable of other driven in rotation.

 In one embodiment> the pinion of the carriage drive device, the pinion of the mast drive device in the guide and the pinion of the saber drive device are each driven by a separate manual device.

 In another embodiment, the pinion of the carriage drive device, the pinion of the mast drive device in the guide, and the pinion of the saber drive device are each driven by a remote-controlled motorized device. .

 The instrument carried by the saber may other than a sensor or a tool. When the instrument is a sensor, it generally comprises a transmitter and a receiver: it can be of any type, in particular optical or ultrasonic. In the case of an optical sensor, it may include lighting means> optical transfer means (in particular an endoscope) and examination means (in particular a camera).

 To better understand the object of the invention, we will now describe, by way of non-limiting example, an embodiment shown in the accompanying drawing.

On this drawing
- Figure 1 is a perspective of the assembly of a sensor positioning device according to the invention;
- Figure 2 is a plan view of the right side of the apparatus shown in Figure 1
- Figure 3 is a section along line III-III of Figure 2
- Figure 4 is a section along the line
IV-IV of figure 2
- Figure 5 is a section along the line
VV of figure 2
- Figure 6 is a section along the line
VI-VI of figure 2
- Figure 7 is a section of the apparatus along line VII-VII of Figure 4, after removal of certain organs
- Figure 8 is an elevation along the line VIII-VTII of Figure 7
- Figure 9 is a section along the line IZ-IX of Figure 4;
- Figure 10 is a section along the line
XX of Figure 4; and
- Figure ll is a schematic section through a horizontal plane of a part of the tube bundle of a reactor, ---------- which can be controlled by implementation of the apparatus according to invention.

 Before the detailed description of an apparatus according to the invention represented in FIGS. I to 10, an example of structure is considered, the control of which is usefully carried out using an apparatus according to the invention.

The reactor part shown in FIG. 11 has two horizontal plates, one of which is identified by the reference 10. Tubular structures 12 are disposed between the plates 10. In an example of application, the base of these tubular structures 12, that is to say the part connected to the plate 10, must be checked. The spaces 14 separating adjacent lines of tubular structures 12 are relatively large, but their use is generally not convenient because, in the weakly submerged position of these reactors access in psrallel direction to these passages 14 does not leave a sufficient distance. The structures 12 must therefore be controlled by access by "streets11 as identified by the reference 16. These streets or spaces have a very small width as indicated in FIG. 11.

For example, while the diameter of the plate 10 is several meters, the width of each "street" 16 is 25mm.

The control of the structures 12 therefore requires the introduction of a sensor over a depth of several meters, in a space having a width of only a few tens of millimeters, without contact with the tubular structures 12. Furthermore, in the 'application considered, as it is a nuclear reactor, personnel must be at a distance.

 The apparatus according to the invention represented generally in perspective in FIG. 1, is intended to be placed above the structure 18 which forms the swimming pool intended to contain a reactor submerged under water, the surface of which is identified by the reference 20. Parallel rails 22 and 24 form a track whose direction is parallel to the streets or passages 16 shown in Figure ll. These rails carry a gangway 26, which essentially comprises two longitudinal beams 28 connected by crosspieces, which carry wheels 30 which can move along the rails 22 and 24. A locking device, not shown, allows the gangway 26 to be maintained throughout desired position along the rails 22, 24. Of course, the gangway also has a floor 32 and guard rails 34 and it normally exists in conventional type reactors.

 According to the invention, beams 36, formed for example by two U-shaped beams placed back to back, are fixed to the beams 28 of the gangway by fastening members 38, for example of the bolted type. The beams 36 support a raceway 40 described in detail below. The latter carries a carriage 42, which can move along the raceway and which carries a guide 44 placed vertically. A mast 46 can slide in the guide 44. It is provided, at its lower part, with a yoke 48 which carries a slide 50 articulated around an axis 52. An elongated support member 54, called "saber" in the present description, can slide in the slide 50.

 Sqn end shown on the left in Figure 1 carries a sensor for controlling the associated structure.

A counterweight 56 is advantageously mounted at the other end; a cabal 58 connected to a tensioner 62 fixed on the pass relle supports the slide 50 to avoid bending of the mast 46.

 Since the saber 54 must penetrate the 8 streets delimited between the tubular structures of the reactor along its length, it is essential that it moves longitudinally in the direction parallel to the rails 22 and 24 since these are parallel to the streets 16. A For this purpose, the raceway 40 is provided with an adjustment device allowing it to be brought into direction well perpendicular to the rail 22, as indicated by the arrow 62. Thus, when the carriage 42 moves on the raceway, as indicated by the arrow 64, it moves perpendicular to the rail 22 which constitutes a first orientation mark.

 Furthermore, it is essential that the mast moves vertically. To this end, the raceway or rather its end shown on the right in FIG. 1, can be adjusted in height as indicated by arrow 66 so that, when the mast moves as indicated by arrow 68, it has a very vertical orientation.

 Finally, the sword 54 must move horizontally and, for this purpose, a suitable device allows the adjustment of its horizontality, as indicated by the arrow 70, so that, when it is placed cotnn indicated by the arrow 72, it be horizontal.

 Figure 3 shows the mounting of the device on the existing gateway. More specifically, the devices 38 for fixing the beams 36 simply comprise plates tightened by bolts arranged on either side of each of the beams 28 of the gangway. In this way, the raceway 40 is supported outside the gateway but parallel to it (Figure 2).

 We now consider the fixing of the end of the raceway which is shown on the right in FIG. 2. The fixing of the other end can be simpler since it requires no adjustment. It may however be identical to that which will now be described with reference to FIGS. 5 and 6. The beam 36 carries at its end a first plate 74 and a second plate 76 which can slide on the first. Bolts 78 pass through circular holes in the plate 74 which cannot therefore move relative to the beam 36, and through slots 88 formed in the upper plate 76 which can therefore move on the plate 74.

 Gussets 80 are held on the plate 76 by screws, and they are tightened one against the other by bolts 82 so that they support an I-beam 84 whose sheath has holes for the passage of bolts 82.

The sides of the beam are closed by plates 86 which are welded to it and which also have holes for the passage of these nomes bolts 82. The gussets 80 have, in addition, lights 96, which allow a relative displacement in height beam 84 and gussets 80.

 -A projection 90 is welded to the end of the plate 76 and it serves as a support for a screw 92 which passes through the tapped hole of a projection 94 fixed to the plate 74. In this way, the screwing of the screw 92 causes a progressive displacement of the plate 76 on the plate 74, when the screws 78 are released. The plate 76 can therefore title moved along the length of the beam 36, and the raceway can therefore be streak adjusted so that it is perpendicular to the rail 22.

 Figure 6 indicates that one end of each beam 84 carries a welded bracket 98 having a threaded hole ta for the passage of a screw 100. The lower end thereof rests on the plate 76 so that the screwing of the screw 100 allows the lifting of 1 bracket 98 and consequently of the beam 84 and the rail which it carries.

Thus, each track rail can be adjusted to be strictly horizontal.

 The raceway proper comprises two rails 102 and 104 (Figure 4). Each of the two rails is retained on the side of the corresponding beam 84 by supports 106 screwed onto the upper wing of the beam 84. As indicated previously, each rail is adjusted separately in height by a bolt 100, and it is held in place the adjustment position when the nuts of the bolts 82 are locked. On the other hand, the lateral adjustment, that is to say in a horizontal plane, is carried out six times simultaneously for the two rails since they are both carried by the standard plate 76.

 The two rails 102 and 104 are intended to support the carriage 42. The latter essentially comprises a horizontal plate, the underside of which carries gussets 108 which support side plates. The side plate shown on the left in FIG. 4 carries rollers lld which can pivot on axes 112 fixed on the side plate. These rollers 110 have a cylindrical external surface and they are three in number. Their arrangement is alternated, that is to say that two rollers are placed on the rail and one below. Thanks to this arrangement, the rollers 110 prevent the lifting -and the lowering of the carriage but allow its displacement in a horizontal transverse direction relative to the rails.

 The other rail 104 has a hexagonal shape in the embodiment considered. FIG. 8 clearly shows the arrangement of rollers 114: two are placed above the rail 104 and a third below. These three rollers have a V-section at 120 so that they automatically center on the upper and lower edges of the rail 104. This centering is possible since the rollers 110 can move laterally on their rail 102. In Consequently, the carriage can neither raise nor lower, its only possible displacement being a translation along the rails 102 and 104.

 As shown in FIG. 4, the face of the rail 104 which is opposite the supports 106 carries a rack 118 which is engaged with a pinion 120 carried by an axis 122 which turns in a bearing 126 integral with the carriage 42.

A crank 124 allows the rotational drive of the axis 122 and, consequently, the translational movement of the carriage on the two rails 102 and 104.

 The carriage 42 has, in its upper plate, a relatively wide cutout 128 intended for the muse in place of the guide 44. The latter comprises a tube 132 of rec tangular section welded to a plate 130 which is itself screwed onto the carriage 42. The midpoints of the faces of the tube 132 are welded to reinforcing plates 134 so that the guide 44 has great rigidity. At its two ends, the guide carries plates 136 constituting screed supports 138 carrying rollers 140. FIG. 7 shows in plan the arrangement of these rollers. We note that they have a V-shaped groove at 90. They are intended to cooperate each with an angle of the mat 46 of square section.

 The guide 44 carries a case 142 which contains a pinion driven in rotation by a crank 144. This pinion is engaged with a rack (not shown) arranged over part of the length of the mast 46.

 The mast 46 carries, at its lower part, a yoke 48 formed by two side plates 146 and 148 supporting the axis 52. The latter, which has ends 150 of reduced diameter, is tightened by bolts 152 on sleeves 154 of spacer, screwed on the plates 146 and 148.

The tree is therefore fixed relative to the yoke.

 The slide 50 can pivot around the axis 52.

It comprises two side plates 158, held at a distance from each other, around the axis 52, by a sleeve described in the following, and it carries, at its lower part, several axes 162 passing through holes formed in reinforcement plates 160 and supporting rollers 164 with V-grooves

 As shown in FIG. 4, the slide 50 has four axes 162 and four rollers corresponding to its lower part. These rollers are aligned and are intended to support the saber 54. The latter has a tubular lower part 166 and a wing 168 integral with part 166. The tube 166 is intended for transferring the information supplied by the sensor which is carried by the saber 54.

The latter further comprises a U-shaped profile 170 riveted to the wing 168. This profile itself carries the links 172 of a chain which forms the upper edge and allows the saber to be driven.

 The saber can therefore slide on the rollers 164 in the horizontal direction, as shown in FIG. 4.

The inclination of the slide 50 relative to the mast 46 is adjusted using a turnbuckle 174 carried by the slide 50 and having a first end mounted at the end of an axis 162 and another end mounted on a suitable bolt fixed to the corresponding side plate 148 of the yoke.

 The links 172 formed at the upper part of the saber 54 are engaged with a pinion 176 keyed with another pinion 178 on a sleeve 180 mounted on the axis 52 and playing the rible of a spacer preventing the plates 158 from coming closer to the slide: the two pinions 176 and 178 therefore rotate together. A chain 182 passes over the pinion 178 and rises in the mast 46.

 The upper part of the mast 46 carries a first plate 184, which is welded to it, and a second plate that 186 placed at a distance from the plate 184 and capable of sliding on rods 188 integral with the plate 184 and guiding de8 springs 190. Another spring 190 is placed around an operating rod, described below, so that the plate 186 is supported by three springs 190, while being guided above the plate 184. In this manner , the orifice 192 of the plate 184 and the orifice 194 of the plate 186 remain aligned one above the other. The upper plate 186 carries two plates 196 and 198 in which pivots a shaft 200; the latter carries a pinion 202 which is keyed onto it. The chain 182, stretched by the springs 190, passes through the orifices 192 and 194 and over the pinion 202. The bre 200 also carries a bevel pinion 204, which is clave ted at its end, this pinion 204 being engaged with another bevel gear 206 mounted on the upper part of a rod 208 which rotates in bearings 210 and 212. As indicated in FIG. 1, the rod 208 can also be driven in rotation by a long crank 214 articulated at the end of the rod. 208. The rotation of the latter therefore causes the rotation of the pinions 206, 204 and 202 and the drive of the chain which then causes the drive of the lower pinions 178 and 176 and the displacement of the saber 54 in the horizontal direction.

In the application under consideration, that is to say
checking the state of fixation of tubular structures
laires 12 on a plate 10 of a submerged reactor, the cap
advantageously is of the optical type. More specifically, the tube 166 is an endoscope. The end of the tube carries an opening which allows downward control in a
conical range of 35 angles at the top. The other end of the endoscope ends up in a block 218 which comprises, on the one hand, a television camera intended to retransmit the line of the observed area and, on the other hand, a light source. allowing the lighting of this area. The light source and the camera are connected by suitable wires 220 to a power supply and a control station not shown.

 Also shown in Figures 1 and 4; a television camera 216 equipped with a light source and carried by the lower edge of the slide 50. The television camera 216 allows observation of the approach to the part of the reactor into which the saber 54 must penetrate. The cables which connect the source and the camera 216 to a suitable power and control device have not been shown.

 When the saber has advanced on a street formed between tubular structures 12, it tends to point down due to the imbalance of the masses. It is therefore desirable that this imbalance - be compensated by incorporating a counterweight 56 at the other end of the saber.

In this way, when the saber is fully advanced, the counterweight balances the saber which can remain horizontal. When the saber comes back, the counterweight gives an imbalance - in the opposite direction, but this is annoying monks because the saber is not then introduced between the tubes. This harmful effect of the counterweight can be offset by the action of the target 58 connected to the tensioner 60. More specifically, this cable 58 is fixed to a clevis 222 articulated
on the side of the slide where counterweight 56 acts. A poi
control 224 allows the adjustment of the tension exerted or its cancellation. This prevents bending of the mat 46.

 We now consider the operation of the device described above, in a succinct way because the above description makes it easy to understand the different mechanisms.

 When the reactor must be controlled, it is initially left at the bottom of its swimming pool, at a depth of the order of fifteen meters. The device adjustment operations are then carried out. For this purpose, one chooses one of the rail $, ~ such as rail 22, as orientation guide. Then, by adjusting the screws 92, the raceway 40 is placed perpendicular to the rail 22. The position of the gangway is then located on the rails 22, 24 and the gangway is locked in position. The verticality of the mast is then checked and this is adjusted using the adjustment screws 100, after checking that the saber 54 is along the planned axis of viség, the saber being in the maximum high position. check the horizontality of the saber and its parallelism at water level.

The saber is then lowered to the level of intended use, the saber is then at a depth of the order of 4m below the surface. the tensioner 58 is put in place and all the positions which constitute subsequent benchmarks are thus determined.

 The reactor beam is then brought up position. The mat is placed opposite the dar mark 226 in FIG. 11, which corresponds to a diametrical plane of the beam.

The carriage is then moved by a distance exactly equal to half the pitch of the tubular structures 12, in the direction considered. At this time, the saber must be in front of the first street. Its positioning opposite the following streets is carried out by displacements equal to exactly an integer multiple of step 228 (figure 11).

 It was stated that the movement of the carriage along the raceway, the vertical movement of the mast and the horizontal movement of the saber were carried out by manual controls. However, these can obviously be replaced. by suitable motorized controls8. This characteristic is particularly interesting in the particular application considered, since it is desirable that the personnel be as little exposed as possible to radioactivity. When the control is carried out, the reactor has been lifted and is only a few more meters below the surface so that it emits considerable radiation and it is therefore advantageous for the personnel to be placed at a distance Of course, signals transmitted by the two television cameras can be received at a suitably protected location.

 The camera 216 placed under the slide is used essentially during the approach movement of the apparatus, while the camera 218 is used essentially when the saber has entered the beam.

 Of course, the various mechanisms described in detail can be replaced by mechanisms fulfilling the same functions. In particular, the counterweight and tensioner system can be replaced by a counterweight of variable position, deviating more and more from the axis 52 of the yoke when the saber advances.

 It is understood that the apparatus described above may give rise to any desirable modifications, without departing from the scope of the invention.

Claims (12)

 1 - Apparatus for positioning an instrument with respect to a regular network of elongated and parallel members delimiting between them, in a plane perpendicular to their longitudinal axis, several rectilinear and parallel passages of small width, the positioning being carried out in referring to a first orientation mark having a direction parallel to said passages and to a second displacement mark in a direction perpendicular to the direction of the first mark, said apparatus being: characterized in that it comprises  - a support structure (36),  - A raceway (40) disposed in a plane parallel to the direction of the first orientation mark (22) and provided with a first adjustment device (92) parallel to this plane so that the raceway (40) either perpendicular to the direction of said first reference mark and of a second adjustment device (100) acting in a direction perpendicular to the plane of said rolling path,  - a carriage (42) intended to move on the raceway (40),  - a device (118> 120) for driving the carriage along the raceway (40),  - a guide (44) integral with the carriage,  - an elongated mast (46) placed in the guide (44) which allows it to slide in a direction parallel to the longitudinal axis of the mast and perpendicular to the plane of the raceway (40), but which pockets its rotation around this axis longitudinal, a entrainment device (142, 144) being intended to slide the mat in the guide,  - a yoke (48) placed at one end of the mXt,  - a slide (50) pivotally articulated in the yoke (48),  a device (174) for adjusting the orientation of the slide (50) relative to the yoke (48),  - an elongated saber (54), instrument support, arranged in the slide rail, and  - A device (172, 176) for translational training of the saber-in the slide, in a direction  substantially parallel to the direction of the first coordinate system  orientation (22).  -2 - Apparatus according to claim 1, characterized in that the orientation mark (22), the raceway (40) and the saber (54) are substantially  horizontal, and that the mat (46) is substantially vertical.  -3 - Apparatus according to claim 2, character-  laughed at by the fact that the saber (54) carries a set of equi  librage (56, 58, 60) intended to reduce the forces which can be exerted on the slide and on the mast (46).  4 Apparatus according to claim 3, charac  terrified by the fact that the balancing assembly comprises a counterweight (56) and a target support device (58)  and tensioner (60).  5 - Apparatus according to one of claims 2  to 4> characterized by the fact that the orientation mark  is a horizontal rectilinear rail (22) parallel to the passa  ges (16) of the elongated organ network (12), and that the struc  ture is a walkway (26) intended to move on  two parallel rails (22, 24), one of which constitutes the mark  re orientation,  6 - Apparatus according to one of claims 2 to  5, -characterized by the fact that the raceway (40) comprises two rails (102 104), one of which (102) has at least  a support surface which is parallel to the plane of the raceway (40) and the other (104) of which has at least one support surface, which is inclined relative to this plane.  7 - Apparatus according to claim 6, characterized in that the carriage (42) comprises at least three  wheels - (110, 114) intended to cooperate with each of the rails  (102, 104), two wheels being arranged above each  rail and one below.  8 - Apparatus according to one of claims 6 or  7, characterized in that the drive device  of the carriage (42) comprises, on the one hand, a rack (118) integral with one of the rails (104) of the raceway, and, on the other hand, a pinion (120) mounted on the carriage (42 ) and capable of being driven in rotation to cooperate with said rack (118).  9 - Apparatus according to one of claims 1 to 8, characterized in that the guide (44) comprises a rigid tube (132) integral with the carriage (42) and carrying two guide devices arranged on either side of the raceway (40).  10 - Apparatus according to claim 9, characterized in that the mat (46) has a polygonal section, and that each guide device comprises several rollers (140) placed in contact with several faces of the mat (46).  II - Apparatus according to one of claims 1 to 10, characterized in that the drive device intended to slide the mat (46) in the guide (44) comprises on the one hand, a rack placed on the along at least part of the mast (46) and, on the other hand, a pinion mounted on the guide (44) and capable of being born in rotation and of cooperating with said rack.  12 - Apparatus according to one of claimsg 1 to 71, characterized in that the saber (54) has a surface facing the base which is intended to be supported by rollers (164) carried by the slide (50) , and that the device for driving the saber (54) in translation comprises, on the one hand, a longitudinal member (170, 172) which is carried by the saber and untied; cavities and, on the other hand, a pinion (176) having teeth intended to cooperate with said cavities and mounted on the axis (52) of pivoting of the slide (50) relative to the yoke (48).  13 - Apparatus according to claim 12, characterized in that the pinion (176) of the saber drive device (54) is rotated by a transn ~ = gift disposed in the mast (46) and controlled by a body (2i4) placed near the end of the mast (46), which is opposite to that which carries the yoke (48).  14 - Apparatus according to claim 13, charac terized pir the fact that -the transmission comprises a cat (182) housed in the mast (46) and passing, on the one hand, on a pinion (178) integral with the pinion (176) saber drive (54) and, on the other hand, on another pinion (202) mounted at the other end of the mast (46) and capable of being rotated.  15 - Apparatus according to claims 8, It and 14 taken simultaneously, characterized in that the pinion (118) of the carriage centering device (42), the pinion of the mat drive device (46) in the guide (44), and the pinion (202) of the saber drive device are each driven by a separate manual device.  16 - Apparatus according to claims 8, 11 and 14 taken simultaneously, characterized in that the pinion (118) of the carriage drive device (42), the pinion of the mat drive device (46) in the guide (44), and the pinion (202) of the saber drive device are each driven by a remote-controlled motorized device.