Robotic system for retractable teleoperated arm within enclosed shell with capability of operating within a confined space

An apparatus for performing a task in a confined space having an access port, said apparatus comprising:

• a confinement box having:
• an aperture at an upper end;
• and
• an aperture at a lower end securable to the access port of the confined space;
• a height adjustable table including:
• a motor for raising and lower said table;
• a rotatable flange, and
• a motor for rotating said flange;
• an elongated tube connected to said aperture in said upper end of said confinement box;
• a teleoperated arm including:
• a mast movable within said tube and said confinement box, said mast secured to said rotatable flange and having at least one conduit extending therethrough;
• an inner arm comprising a conduit;
• a shoulder joint connecting said mast and said inner arm, said inner arm in fluid communication with said at least one conduit;
• a means for actuating said shoulder joint;
• an outer arm comprising a conduit;
• an elbow joint connecting said outer arm and said inner arm, said outer arm in fluid communication with said inner arm;
• and
• a means for actuating said elbow joint;
• and
• a control system operatively connected to said confinement box and said teleoperated arm for commanding the apparatus.

An apparatus for performing a task in a confined space having an access port, said apparatus comprising:

• a confinement box securable to the access port of the confined space and having a rotatable flange therein;
• a shell extending from said confinement box;
• a teleoperated arm movable between a retracted position, in which said teleoperated arm is disposed within said shell, and a deployed position in which said teleoperated arm extends through the access port and into the confined space to perform the task, and wherein said teleoperated arm secures to said flange in a deployed position in order to rotate said teleoperated arm, and
• a control system for commanding said teleoperated arm.