Assembly for transmitting a torque to a working tool configured to move inside a pipe

Abstract

The invention relates to an assembly (10) for transmitting a torque to a working tool configured to move inside a pipe, the assembly (10) extending along a longitudinal main axis (A) and comprising at least one sealed body (102) comprising a mechanism for transmitting a torque from a first end (104) of the assembly (10) to a second end (106) of the assembly (10). The first end (104) is connected to the at least one sealed body (102) about a first pivot connection extending substantially perpendicular to the main axis (A) along a first pivot axis (PI), the first end (104) comprising: a transmission member (1041) that can be rotated by the torque received from an emission device, and a first drive mechanism connecting the transmission member (1041) to the transmission mechanism of the at least one sealed body (102). According to the invention, the first drive mechanism comprises a first axial bevel gear (1042) rotated about a first axis of rotation substantially parallel to the main axis (A) by the torque transmitted by the transmission member (1041), and a first transverse bevel gear (1043) rotated about the first pivot axis (PI) by the torque transmitted by the first axial bevel gear (1042). The second end (106) comprises a second mechanism for driving the torque from the transmission mechanism (1020) of the at least one sealed body (102) to the working tool.

Description

[0001] A transmission system for transmitting torque to a work tool configured to move inside a pipeline; an installation comprising such a system

[0002] Scope of the invention

[0003] The field of invention is that of robotics applied to industrial fields such as automotive or plastics processing, for example.

[0004] The invention is particularly suited to robotics applied to pipelines. Such robots are used, for example, to be moved inside pipelines, notably to perform tasks such as clearing obstacles and rehabilitation.

[0005] Prior art and its drawbacks

[0006] In the field of robotics applied to pipelines, and more specifically for the operation of pipelines whose interiors are inaccessible to personnel, there are currently assemblies that can be moved within pipelines. These assemblies include a lifting arm to raise and orient the assembly within the pipeline to facilitate passage around bends. The lifting arm is attached to a body to which at least one working tool is fixed, such as a cutting head or a milling head.

[0007] Generally, the work tool is activated by controlling, via a control device, a motor, such as a milling motor, integrated into the body. For example, this motor can be electric, pneumatic, or hydraulic. One end of the boom lift is then connected to the motor, while the other end is connected to the control device and / or the motor's power supply, usually located outside the pipeline.

[0008] One drawback of such assemblies is their bulky size. This bulk hinders the assembly's movement through certain pipes, particularly those with a small nominal diameter. This bulk currently limits the effective power of the motors, especially in the small diameter range, or restricts the shapes and diameters of the pipes that can be inspected.

[0009] Document DE 102008021 1 Al describes a pipe or channel reconstruction device comprising a remote motor assembly whose power is transmitted to the working tool by a torsion cable. In this device, each deviation or angle of the rotating torsion cable generates an alternating bending stress during rotation. This device allows the transmission of torque to a working tool only to the extent that the speeds are low, the torque moderate, and the bending radii large. In other words, the aging of the torsion cable and its eventual breakage is accelerated as the bending radius is small, the resisting torque applied to the cable is high, and the rotational speed is high.

[0010] There is therefore a need for a movable assembly in pipes and in particular small diameter pipes (< 100 mm), whether these pipes are straight or bent (at right angles for example), which is compact, which allows a high rotation speed of the working tool and which can be used in muddy and / or flooded sewer pipes in the presence of rubble, dust and other products of the milling carried out in these pipes, without causing malfunction of the assembly.

[0011] Objectives of the invention

[0012] The present invention provides a transmission assembly from a torque-generating device, which connects to one end of the assembly, to a working tool connected to the other end. The assembly is configured to move inside a pipe to allow the working tool to perform, for example, milling or rehabilitation operations. The transmission assembly is sufficiently compact to be able to pass through bends in the pipe. The transmission assembly does not include a motor for driving the working tool. In particular, the transmission assembly has a mechanism that facilitates its passage through one or more bends in the pipe and relocates the working tool's drive motor to the outside of the transmission assembly, or even the pipe itself.

[0013] Description of the invention

[0014] To this end, the invention relates to a torque transmission assembly for a working tool configured to move inside a pipe, the assembly extending along a main longitudinal axis and comprising at least one sealed body having a torque transmission mechanism from a first end of the assembly to a second end of the assembly, the first end being connected to the at least one sealed body by means of a first pivot joint extending substantially perpendicularly to the main axis along a first pivot axis, the first end comprising:

[0015] - a transmission element that can be driven in rotation by the torque received from a transmitting device, and

[0016] - a first drive mechanism connecting the transmission element to the transmission mechanism of at least one body, the first drive mechanism comprising:

[0017] o a first axial bevel gear driven in rotation around a first axis of rotation substantially parallel to the main axis by the torque transmitted by the transmission element, and

[0018] o a first transverse bevel gear driven in rotation around the first pivot axis by the torque transmitted by the first axial bevel gear,

[0019] the second end comprising a second torque drive mechanism from the transmission mechanism of at least one sealed body to the working tool.

[0020] The proposed transmission assembly allows the working tool to be actuated using torque generated by the transmitter, which is connectable to the transmission unit. The transmitter is located remotely, making the transmission assembly compact and allowing it to operate and travel within a pipeline with a wide range of diameters, including those with a small nominal diameter. For example, the nominal diameter of the pipeline can be 50 mm or greater.

[0021] Furthermore, the first pivot joint allows the first end to be pivoted in a controlled manner relative to at least one body in order to facilitate the passage through one or more bends formed in the pipe.

[0022] The proposed transmission assembly, which includes a sealed body, is suitable for humid and dirty environments (particularly dusty ones), and especially for submerged environments. This prevents the internal mechanics (gears, bearings, and bushings) of the assembly body from being exposed to dust, debris, and other products of the milling process carried out in these pipes, thus preventing seizing of these internal mechanisms and malfunctions of the assembly.

[0023] Furthermore, because the body is sealed, the internal mechanism can be lubricated. The overall structure ensures constant torque transmission even when an angle is described at one of the joints. Moreover, this structure allows for high-speed or high-torque transmission without generating destructive vibrations.

[0024] Advantageously, the invention comprises the following features, taken alone or in combination:

[0025] The first orientation means, controllable by first control means, are configured to control the pivoting of the first end relative to at least one watertight body along the first pivoting axis,

[0026] The first orientation means comprise deployable and / or retractable means attached to the first end configured to apply a force against at least one body, allowing the first end to pivot relative to at least one watertight body along the first pivot axis.

[0027] the second end is connected to at least one body by a second pivot joint extending substantially perpendicularly to the main axis along a second axis of pivot,

[0028] The second drive mechanism at the second end comprises: o a second transverse bevel gear driven in rotation around the second pivot axis by the torque transmitted by the transmission mechanism of at least one sealed body,

[0029] o a second axial bevel gear, connectable to the working tool, driven in rotation about a second axis of rotation substantially parallel to the main axis by the torque transmitted by the second transverse bevel gear, second orientation means, controllable by second control means, are configured to control the pivoting of the second end relative to at least one sealed body along the second pivoting axis, the assembly further comprising locking means configured to lock, in at least two determined angular locking positions, the pivoting of the second end relative to at least one sealed body along the second pivoting axis, the assembly further comprising another body having another mechanism for transmitting a torque from the at least one body to the second end of the assembly,the other body being connected to the second end of the assembly by means of the second pivot joint, at least one body and the other being connected to each other by a third pivot joint extending substantially parallel to the main axis along a third pivot axis in order to allow the rotation of the first pivot axis relative to the second pivot axis around the third pivot axis,

[0030] The assembly exhibits a decrease in its cross-section normal to the principal axis between the first pivot axis and the second pivot axis.

[0031] The invention also relates to an installation for operating a work tool inside a pipeline, comprising

[0032] a) a torque transmission assembly for a work tool configured to move inside a pipeline, the assembly extending along a main longitudinal axis and comprising at least one sealed body having a torque transmission mechanism from a first end of the assembly to a second end of the assembly,

[0033] the first end being connected to said at least one sealed body by means of a first pivot joint extending substantially perpendicularly to the principal axis along a first axis of pivot, the first end comprising:

[0034] - a transmission element that can be driven in rotation by the torque received from a transmitting device, and

[0035] - a first drive mechanism connecting the transmission element to the transmission mechanism of said at least one sealed body, the first drive mechanism comprising:

[0036] o a first axial bevel gear driven in rotation around a first axis of rotation substantially parallel to the main axis by the torque transmitted by the transmission element, and

[0037] o a first transverse bevel gear driven in rotation about the first pivot axis by the torque transmitted by the first axial bevel gear, the second end comprising a second torque drive mechanism from the transmission mechanism of said at least one sealed body to the working tool, and

[0038] b) a torque emission device equipped with a rotating cable, one end of which is connectable to the transmission element of the assembly in order to drive the transmission mechanism of said at least sealed body.

[0039] Brief description of the figures

[0040] Other features and advantages of the invention will now become apparent in greater detail in the following description of illustrative and non-limiting embodiments, with reference to the attached figures which represent:

[0041] [Fig. 1]: Figure 1 presents a schematic cross-sectional view of a transmission assembly according to an example embodiment of the invention;

[0042] [Fig. 2]: Figure 2 presents a schematic cross-sectional view of a transmission assembly according to an example embodiment of the invention;

[0043] [Fig. 3]: Figure 3 presents a schematic cross-sectional view of a transmission mechanism formed between two bodies included between two ends of a transmission assembly according to an embodiment of the invention;

[0044] [Fig. 4]: Figure 4 presents a schematic cross-sectional view of a transmission assembly, according to an example of an embodiment of the invention, inside a bend in a pipe;

[0045] [Fig. 5]: Figure 5 presents a schematic cross-sectional view of a transmission assembly, according to an example of an embodiment of the invention, inside a bend in a pipe;

[0046] [Fig. 6]: Figure 6 presents a schematic cross-sectional view of a transmission assembly, according to an example of an embodiment of the invention, inside a bend in a pipe;

[0047] [Fig. 7]: Figure 7 presents a schematic cross-sectional view of a transmission assembly comprising two bodies connected in series according to an embodiment of the invention.

[0048] Detailed description

[0049] Unless otherwise specified, the same element appearing on different figures has a unique reference. The general principle of the invention is based on the implementation of an installation configured to introduce, inside a pipeline, a working tool whose energy source necessary for its operation is located outside the pipeline.

[0050] For example, the pipe may be part of a wastewater or rainwater drainage system, a cooling system or, more generally, any pipe with bends.

[0051] For example, the working tool could be a milling head configured to rehabilitate the internal walls of the pipe, or a cutting head configured to cut through any obstruction in the pipe. Specifically, the working tool is driven by torque, which is preferably generated outside the pipe by a torque generation device.

[0052] For example, this torque generation device can be an electric, pneumatic, hydraulic or thermal motor.

[0053] The torque generation device is connected to a torque emission device that is connectable to a transmission assembly according to the invention, which is dimensioned to be inserted into and then moved within the pipe. Preferably, the torque emission device is flexible so as to be able to follow the curves imposed by the pipe in which the working tool moves.

[0054] Preferably, the torque-generating device is equipped with a rotating cable. For example, the cable rotates as a result of the application of a twisting force by the torque-generating device. The rotating cable extends along a longitudinal axis around which it is configured to rotate. One end of the rotating cable is connected to the torque-generating device, and the other end can be connected to the transmission assembly.

[0055] Figures 1 and 2 illustrate a first embodiment of the invention of a transmission assembly 10 which extends along a main longitudinal axis A.

[0056] The transmission assembly 10 comprises a sealed longitudinal body 102 and two pivoting ends 104 and 106, each pivoting about a pivot axis PI and P2 substantially perpendicular to the main axis A. It should be noted that, in one example, the pivot axes PI and P2 may be substantially parallel. Several sealing gaskets 1071 to 1078 are arranged in the body 102 to ensure good sealing of the assembly 10.

[0057] The fact that the transmission assembly 10 is sealed makes the assembly 10 suitable for use in muddy and / or flooded sewer pipes in the presence of rubble, and other products of milling carried out in these pipes, without causing very quickly a seizure of the internal mechanics (gear, bearings and bearings) arranged within the body 102.

[0058] The transmission assembly 10 may contain lubrication at the transmission level.

[0059] In other words, these sealing elements prevent oil leaks and ensure that the body is completely airtight against the external environment.

[0060] Of the two ends 104 and 106, a first end 104 is connected to the rotating cable 108 and a second end 106 is connected to a fixing means 109 of the working tool.

[0061] The integration of a rotating torsion cable transmission and a sealed and lubricated homokinetic intermediate transmission set 10 ensures high torque transmission (power greater than 1kW at 3000 rpm) to the working tool and high transmission speeds, between 3000 and 6000 rpm.

[0062] The installation consisting of the rotating cable 108, the transmission assembly 10 and the working tool allows movement of the latter in pipes of small diameter (< 100 mm) with small radii of curvature allowing to negotiate multiple bends at 90°.

[0063] As shown in the figures, the rotating cable 108 remains straight and works only in rotation (it is designed for this). Therefore, there is no alternating bending stress on the rotating cable 108 during its rotation; the only stress is that of torque transmission.

[0064] Advantageously, the watertight body 102 is defined by a cross-section normal to the main axis A that is smaller than those of its two ends. For example, the longitudinal body 102 may have a figure-eight shape, the loops of which are traversed by the pivot axes PI and P2. This facilitates the passage of the assembly 10 around bends. Advantageously, the first end 104 is connected to the body 102 by a first pivot joint extending substantially perpendicularly to the main axis A along a first pivot axis PI. This allows the body 102 to pivot relative to the rotating cable 108 connected to the first end 104 up to 90°, so as to easily engage the transmission assembly 10 in bends formed in the pipes and also to cut through the inner walls of the pipe or any obstruction blocking the pipe.

[0065] Furthermore, the first end 104 includes a transmission element 1041. Preferably, the transmission element 1041 includes a first axial shaft carrying, at one end, a means for receiving the rotating cable 108.

[0066] According to one embodiment, the receiving means is integral with the first axial shaft. The receiving means preferably includes a housing into which one end of the rotating cable 108 is inserted and secured.

[0067] Thus, the first axial shaft of the transmission element 1041 can be driven in rotation by the torque received from the rotating cable 108.

[0068] The first end 104 further includes a first drive mechanism connecting the transmission member 1041 to a transmission mechanism 1020 contained in the body 102.

[0069] The transmission mechanism 1020 of the body 102 includes an input configured to receive the torque transmitted from the first end 104, and an output configured to transmit to the second end 106 the torque that has flowed through the transmission mechanism of the body 102, from its input to its output.

[0070] For example, the transmission mechanism of body 102 can include any type of mechanical drive such as a belt, chain, cable or even a system of straight or bevel gears, connecting the input to the output.

[0071] According to the embodiment illustrated in figures 1 and 2, the transmission mechanism of the sealed body 102 consists of four straight gears 1021, 1022, 1023, 1024 fixed rotatably to an internal wall of the longitudinal body 102, the first of which 1021 corresponds to the input and the last of which 1024 corresponds to the output.

[0072] In particular, the first drive mechanism of the first end 104 includes a first axial bevel gear 1042 carried by the other end of the first axial shaft carrying the means for receiving the rotating cable 108. Thus, the first axial bevel gear 1042 is driven in rotation about a first axis of rotation substantially parallel to the main axis A by the torque transmitted by the rotating cable 108 via the transmission member 1041.

[0073] According to one particular feature, the first drive mechanism of the first end 104 further comprises a first transverse bevel gear 1043 configured to be driven in rotation about an axis transverse to the first axis of rotation. The drive is actuated by the torque transmitted by the first axial bevel gear 1042.

[0074] Preferably, the first transverse bevel gear 1043 is carried by one end of a first transverse shaft 1044 which advantageously extends along the first pivot axis PI. In this way, during the pivoting of the first end 104 relative to the longitudinal body 102 along the first pivot axis PI, the first transverse bevel gear 1043 is kept in contact with the first axial bevel gear 1042 so that the first axial bevel gear 1042 can, during the pivoting, drive the first transverse bevel gear 1043. According to one embodiment, first orienting means, controllable by first remote control means, are connected to the body 102 so as to engage its rotation relative to the first end 104 along the first pivot axis PI.

[0075] For example, the first means of orientation can be jacks, motors or servomotors and cable devices, controlled remotely.

[0076] The first transverse shaft 1044 carries at its other end the first right-hand gear 1021 corresponding to the input of the transmission mechanism of the body 102. Thus, the first transverse bevel gear 1043 is connected to the transmission mechanism 1020 of the body 102 in order to drive the transmission mechanism 1020 of the body 102 using the torque transmitted by the transmission member 1041.

[0077] According to an alternative embodiment not illustrated in the figures, the first orientation means comprise deployable and / or retractable means attached to the receiving means. In particular, the deployable and / or retractable means comprise an arm configured to, on the one hand, approach the body until it makes contact with it in order to exert a pushing force against the body, allowing the first end to pivot about the first pivot axis PI in a first direction, and on the other hand, move away from the body to exert a pulling force so that the body returns to its initial position after the first end has pivoted about the first pivot axis PI in a second direction opposite to the first direction. It should be noted that the pushing and pulling forces are controlled by control means communicating remotely with the deployable and / or retractable means.

[0078] This is therefore a push / pull control system, pneumatic for example, which can be remotely operated, with milling operations capable of being performed on at least three axes. The travel of the first pivot axis PI also allows the device to be oriented and navigated through bends with small radii, in very small diameter pipes (< 100 mm).

[0079] The second end 106 of the transmission assembly 10 includes, for its part, a second torque drive mechanism from the last right gear 1024 of the body 102 corresponding to the output of the transmission mechanism 1020 of the body 102 to the fixing means 109 of the working tool.

[0080] Preferably, the second end 106 of the transmission assembly 10 is connected to the body 102 by a second pivot joint extending substantially perpendicularly to the main axis A along a second pivot axis P2. This pivot can reach an angle greater than 90°. This allows the second end 106 of the assembly 10 to pivot relative to the body 102 by more than 90°, so as to easily and precisely orient the working tool in the pipeline, in particular in the bends of this pipeline, notably to mill the inner walls of the pipe bends, any obstruction blocking the pipeline, or the bends of the pipeline.

[0081] Advantageously, the second drive mechanism of the second end 106 includes a second transverse bevel gear 1061 driven in rotation around the second pivot axis P2 by the torque recovered at the output of the transmission mechanism of the body 102.

[0082] In particular, the second transverse bevel gear 1061 is carried by one end of a second transverse shaft 1062 which advantageously extends along the second pivot axis P2. The second transverse shaft 1062 carries at its other end the last right-hand gear 1024 of the body 102 corresponding to the output of the transmission mechanism 1020 of the body 102. Thus, the second transverse bevel gear 1061 is connected to the transmission mechanism 1020 of the body 102 in order to actuate the working tool fixed by means of the fixing 109 connected to the second drive mechanism using the torque transmitted by the transmission mechanism 1020 of the body 102.

[0083] The second drive mechanism of the second end 106 further includes a second axial bevel gear 1063, connectable to the fixing means 109 of the working tool, driven in rotation about a second axis of rotation substantially parallel to the main axis A by the torque transmitted by the second transverse bevel gear 1061.

[0084] In this way, during the pivoting of the second end 106 relative to the longitudinal body 102 along the second pivot axis P2, the second transverse bevel gear 1061 is kept in contact with the second axial bevel gear 1063 so that the second transverse bevel gear 1061 can, during the pivoting, drive the second axial bevel gear 1063.

[0085] According to one embodiment, second orientation means, controllable by second remote control means, are connected to the second end 106 so as to engage its rotation relative to the body 102 along the second pivot axis P2.

[0086] For example, the second means of orientation can be jacks, motors or servomotors and cable devices, controlled remotely.

[0087] According to an alternative embodiment not shown in the figures, the transmission mechanism 1020 of the body 102 comprises, rather than the four straight gears 1021, 1022, 1023, 1024 rotatably fixed to an internal wall of the longitudinal body 102, a central axial shaft extending along an axis substantially parallel to the main axis A. The central axial shaft carries at one end a central bevel gear connected to the first transverse bevel gear 1043 of the first end 104, and at the other end, another central bevel gear connected to the second transverse bevel gear 1061 of the second end 106. Such a configuration makes it possible to simplify the transmission mechanism 1020 without losing robustness and to further limit its size.According to one embodiment, the second axial bevel gear 1063 is carried by a second axial shaft connected to means for rotating the fixing means 109 to which the working tool is fixed, or directly to the fixing means 109 configured to rotate, in order to actuate the latter by the sole force transmitted by the aforementioned drive mechanisms of the longitudinal body.

[0088] According to one embodiment, the assembly 10 further includes locking means configured to prevent the pivoting of the second end 106 relative to the body 102 along the second pivot axis P2 from being locked in at least two predetermined angular locking positions. This allows the orientation of the working tool relative to the body 102 to be set beforehand and maintained during the use of the assembly 10 in the pipeline. For example, the locking means could be screws, through pins, or clamping devices.

[0089] According to a second embodiment of the invention illustrated in Figure 3, the first end 104 is attached to a first body 21, which is itself connected to a second body 22 to which the second end 106 is attached. The first body 21 and the second body 22 are connected in series. The first body 21 and the second body 22 are connected by a central shaft 23 comprising at each of its ends a central bevel gear: a first central bevel gear 231 and a second central bevel gear 232. The central shaft 23 and the two central bevel gears 231 and 232 constitute the drive mechanism connecting the two ends 104 and 106.The first central bevel gear 1042 is connected to the transverse bevel gear 1043 of the first transmission mechanism of the first end 104 of the assembly 10, while the second central bevel gear 1063 is connected to the transverse bevel gear 1061 of the second transmission mechanism of the second end 106 of the assembly 10. Also, the first end 104 of the assembly 10 is linked to the first body using the first pivot joint as described above, and the second end 106 of the assembly 10 is linked to the second body 22 using the second pivot joint as described above.In this way, the first body 21 and the second body 22 are connected to each other by a third pivot joint extending substantially parallel to the main axis A, in particular extending along the central shaft 23, along a third pivot axis P3 in order to allow the rotation of the first pivot axis PI of the first pivot joint relative to the second pivot axis P2 of the second pivot joint around the third pivot axis P3. Figures 4 to 6 illustrate the passage through a bend of a pipe of one of the embodiments of the invention described above, to which a working tool such as a milling head is attached.

[0090] According to another embodiment of the invention illustrated in figure 7, the two ends 104 and 106 of the assembly 30 are connected to each other by at least two bodies connected in series 31 and 32: a first body 31 comprising a first transmission mechanism similar to that described above and connected to the first end 104 of the assembly by means of the first pivot joint as described above, a second body 32 comprising a second transmission mechanism similar to that described above and connected to the second end 106 of the assembly by means of the second pivot joint as described above.The first body 31 and the second body 32 are connected by a complementary pivot joint extending substantially perpendicular to the main axis A along a complementary pivot axis. This allows the first body 31 to pivot relative to the second body 32 along a complementary axis of rotation, preferably parallel to the first and second pivot axes P1 and P2. This results in a multi-articulated transmission assembly 10, further facilitating the passage of the transmission assembly through bends. In particular, such a multi-articulated transmission assembly allows the working tool to pivot relative to the rotating cable 108 through an angle between 90° and 180°.

[0091] According to another embodiment not shown in the figures, the transmission assembly comprises at least two parallel longitudinal bodies fixed to each other. In this way, the transmission assembly has at least two first ends, i.e., two inputs, and two second ends, i.e., two outputs. This allows the transmission of multiple torques through a single joint constituting the transmission assembly.

[0092] It should also be noted that an example of an embodiment according to the invention can be related to a module forming a mechanical actuator, as described in international patent application WO2024022785. In particular, the invention is particularly interesting when used to unclog a pipe or work against its internal walls.

Claims

DEMANDS 1. Assembly (10) for transmitting torque to a work tool configured to move inside a pipeline, the assembly (10) extending along a longitudinal principal axis (A) and comprising at least one sealed body (102) having a mechanism for transmitting torque from a first end (104) of the assembly (10) to a second end (106) of the assembly (10), the first end (104) being connected to said at least one sealed body (102) by means of a first pivot joint extending substantially perpendicularly to the main axis (A) along a first pivot axis (PI), the first end (104) comprising: - a transmission member (1041) driveable in rotation by the torque received from a transmitting device, and - a first drive mechanism connecting the transmission member (1041) to the transmission mechanism (1020) of said at least one body (102), the first drive mechanism comprising: o a first axial bevel gear (1042) driven in rotation about a first axis of rotation substantially parallel to the main axis (A) by the torque transmitted by the transmission member (1041), and o a first transverse bevel gear (1043) driven in rotation around the first pivot axis (PI) by the torque transmitted by the first axial bevel gear (1042), the second end (106) comprising a second torque drive mechanism from the transmission mechanism (1020) of said at least one sealed body (102) to the working tool.

2. Assembly (10) according to claim 1, wherein first orientation means, controllable by first control means, are configured to control the pivoting of the first end (104) relative to said at least one sealed body (102) along the first pivoting axis (PI).

3. Assembly (10) according to claim 2, wherein the first orientation means comprise deployable and / or retractable means attached to the first end (104) configured to apply against said at least one sealed body (102) a force enabling the pivoting of the first end (104) relative to said at least one sealed body (102) along the first pivot axis (PI).

4. Assembly (10) according to any one of claims 1 to 3, wherein the second end (106) is connected to said at least one sealed body (102) by means of a second pivot joint extending substantially perpendicularly to the main axis (A) along a second pivot axis (P2).

5. Assembly (10) according to claim 4, wherein the second drive mechanism of the second end (106) comprises: a second transverse bevel gear (1061) driven in rotation about the second pivot axis (P2) by the torque transmitted by the transmission mechanism (1020) of said at least one sealed body (102), a second axial bevel gear (1063), connected to the working tool, driven in rotation around a second axis of rotation substantially parallel to the main axis (A) by the torque transmitted by the second transverse bevel gear (1062).

6. Assembly (10) according to any one of claims 4 or 5, wherein second orientation means, controllable by second control means, are configured to control the pivoting of the second end (106) relative to said at least one sealed body (102) along the second pivoting axis (P2).

7. Assembly (10) according to any one of claims 4 or 5, further comprising locking means configured to block, in at least two determined angular locking positions, the pivoting of the second end (106) relative to said at least one sealed body (102) along the second pivoting axis (P2).

8. Assembly (10) according to any one of claims 4 to 7, further comprising another body having another mechanism for transmitting a torque from at least one body to the second end (106) of the assembly (10), the other body being connected to the second end (106) of the assembly (10) by the second pivot joint, at least one body and the other being connected to each other by a third pivot joint extending substantially parallel to the main axis (A) by a third pivot axis (P3) in order to permit the rotation of the first pivot axis (PI) with respect to the second pivot axis (P2) around the third pivot axis (P3).

9. Assembly (10) according to any one of claims 1 to 8, wherein the assembly (10) has a reduction in its cross-section normal to the principal axis (A) between the first pivot axis (PI) and the second pivot axis (P2).

10. Installation for operating a work tool inside a pipeline, comprising: a) a torque transmission assembly (10) for a work tool configured to move inside a pipe, the assembly (10) extending along a longitudinal principal axis (A) and comprising at least one sealed body (102) having a torque transmission mechanism from a first end (104) of the assembly (10) to a second end (106) of the assembly (10), the first end (104) being connected to said at least one sealed body (102) by means of a first pivot joint extending substantially perpendicularly to the main axis (A) along a first pivot axis (PI), the first end (104) comprising: - a transmission member (1041) driveable in rotation by the torque received from a transmitting device, and - a first drive mechanism connecting the transmission member (1041) to the transmission mechanism (1020) of said at least one sealed body (102), the first drive mechanism comprising: o a first axial bevel gear (1042) driven in rotation about a first axis of rotation substantially parallel to the main axis (A) by the torque transmitted by the transmission member (1041), and o a first transverse bevel gear (1043) driven in rotation about the first pivot axis (PI) by the torque transmitted by the first axial bevel gear (1042), the second end (106) comprising a second torque drive mechanism from the transmission mechanism (1020) of said at least one sealed body (102) to the working tool, and b) a torque emission device equipped with a rotating cable (108) one end of which is connectable to the transmission member (1041) of the assembly (10) in order to drive the transmission mechanism of said at least sealed body (102).

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