Working robot to the inside of a volume, in working position of a tool to the inside of a volume with the aid of such a robot and method of changing of the tool in such a robot

摘要

The subject of the present invention is a robot 22 for working inside a space 12 comprising a cylindrical inspection opening 18 characterised in that it comprises a chassis 24 bearing on and being fixed to the periphery of the opening 18, to which there is articulated an orientable beam 26, and a rotary beam 28 one end of which is rotatably mounted on the free end 28 of the orientable beam about a pivoting axis 40 perpendicular to the general direction of the latter, the rotary beam being provided so as to receive a tool 56. The rotary beam 28 is a telescopic beam capable of being deployed, on the one hand, inside the space when the orientable beam 26 is in its working position and, on the other hand, outside of the space when the orientable beam is in its placing and loading position, so as to allow the changing of the tool. Application to maintenance operations inside pipe heads of nuclear power station steam generators. IMAGE