Abstract: A transverse axis tubular hub (24) couples each propulsion unit (4) to the vehicle body (2), and supplies signals representative of the forces that it transmits. A tilt motor (22) of the propulsion unit bears on the hub to tilt the propulsion units about a transverse axis, on which a drive motor is disposed.

Abstract: Apparatus for working by laser, especially for the decontamination of a pipe of a nuclear reactor, comprising a laser source (18); an optical fiber (21) whose input is connected to the output of the laser source; a laser beam amplifier (20) whose input is connected to the output of the optical fiber; and a device (5) for transporting the laser beam emitted by the amplifier through the air to a working point.

Abstract: A self-traveling robotic vehicle having inclinable tracklaying propulsion units for operating in a hostile environment. Each propulsion unit has a track, a built-in propulsion drive for driving the track, and a built-in inclination drive for inclining the propulsion unit as required by rotating it about a transverse axis. Each propulsion unit is readily removable and therefore replaceable in the event of failure or damage to a particular propulsion unit. The vehicle is capable of movement along non-horizontal and rough surfaces while maintaining the stability of the vehicle body and any load that it might be carrying. The body of the vehicle does not comprise any mechanical parts. The vehicle is particularly useful in the nuclear industry.

Abstract: A transverse axis tubular hub (24) couples each elongate propulsion unit (4) to the vehicle body (2). It supplies signals representative of the forces that it transmits. A tilt motor (22) of said propulsion unit bears on said hub to tilt said propulsion units about said transverse axis. In accordance with the invention a drive motor is disposed on said axis.The invention is particularly applicable to working in environments harmful to man.

Abstract: Telemanipulator for operation in a waterbox of a steam generator for attachment underneath the tubeplate of the latter. The device has expandable grippers mounted on arms carried by a bearer unit, for engaging and locking as required in the orifices in the tubeplate, with means enabling independent movement of the apparatus underneath the tubeplate while remaining always suspended by at least two grippers. The bearer unit has four independent arms each equipped with two expandable grippers, and on the portion of it opposite from the tubeplate it supports an arm having a number of members hinged together, the end member of the arm being equipped with tool attachment means, the whole of the arm being in turn revolvable about the axis of the unit perpendicular to the tubeplate, with remote-controlled means for adjusting and maintaining the angular position of the arm with respect to the bearer unit and the angular position of each of the members of the arm relative to one another.

Abstract: The invention relates to a process for the replacement of guide pins of a guiding tube forming part of the top internal equipment of a pressurized water nuclear reactor.While the internal equipment is disposed under water in its storage bay, the two parts of the guiding tube (2) are fastened together by introducing a rod (50) along the axis of the tube and over its entire length, and effecting axial clamping of the tube by members (51, 52) each of which bears against one part of the guiding tube (2). The tube (2) is detached and extracted from the internal equipment, it is decontaminated and transported to a dry treatment zone in which the guide pins are replaced. The tube is transported to the internal equipment storage bay, it is placed back in position in this equipment, it is fastened and the connection between the two parts of the tube is detached. The invention also relates to apparatus for carrying out the process of the invention.

Abstract: A positioning and removal device for a checking means or a tool in a receiver installation, in a medium inaccessible to an operator. The device comprises a flexible guide track fixed to the receiver installation, a carriage movable over the track including a drive motor and a gear wheel, a loading sleeve fast to the carriage closed by a part and including a cam and a groove, a tool support unit provided with catches and an arrangement for hooking the support unit on a complementary arrangement borne by the installation. The forward movement of the carriage permits the opening of the hooking arrangement and hooking of the support unit onto the sleeve at the level of the groove by the catches, when the part is in out-of-service position. When the part is in service position on the sleeve, the forward movement of the carriage permits the transportation and hooking of the support unit of the tool to the receiver installation.