Articulated TELE-plier for remote manipulating of articles

Abstract

Tele-plier for manipulating containers for radiopharmaceuticals within a pharmaceutical isolator, the tele-plier (1) having a tubular rod (2) extending along a longitudinal axis (2a), a gripper (3) with two jaws (5), a handle (6) with a manually operable lever (8), a first hinge joint (9) mounted on a first end (4) of the rod (2) to support the gripper (3) in a rotating manner about a first axis (9a) transverse to the longitudinal axis (2a), a second hinge joint (10) mounted on a second end (7) of the rod (2) to support the handle (6) in a rotating manner about a second axis (10a) parallel to the first axis (9a), and a control system (11), which has a first cable (20) running through the rod (2) and connecting the lever (8) to the gripper (3) to control closing and opening of the jaws (5) and a second cable (21) running through the rod (2) and connecting the handle (6) to the gripper (3) in such a way that an angular displacement of the handle (6) with respect to the second axis (10a) corresponds an angular displacement of the gripper (3) with respect to the first axis (9a).

Description

[0001] "ARTICULATED TELE-PLIER FOR REMOTE MANIPULATING OF ARTICLES"

[0002] Cross-Reference to Related Applications This Patent Application claims priority from Italian Patent Application No . 102025000000642 filed on January 16, 2025, the entire disclosure of which is incorporated herein by reference .

[0003] Technical Field

[0004] The invention relates to an articulated tele-plier for remote manipulating of articles .

[0005] In particular, the invention advantageously, though not exclusively applies to manipulating containers for drugs or radiopharmaceuticals or radioactive products within a working chamber of a pharmaceutical isolator, to which explicit reference will be made in the description below without because of this lacking generality.

[0006] Background

[0007] As it is known, when dealing with the handling of containers filled with radioactive products, such as for example radiopharmaceuticals or radioisotopes, the common practice is to move these containers within a cell of an isolator by means of the use of tele-pliers or manipulators in order to ensure radiation protection of the personnel in charge . A tele-plier is a mechanical device that allows users to precisely pick up and place an article within anenvironment sufficiently far away or separated from another environment where the operator who controls the tele-plier is located.

[0008] In particular, the tele-plier comprises a rod, a gripper mounted on a first end of the rod and a handle, which is mounted on a second end of the rod and comprises a lever that can manually be operated by an operator, and a mechanical control system that kinematically connects the lever to the gripper to allow the gripper to be opened and closed following corresponding actions exerted upon the lever .

[0009] The handle has a mechanical interface device designed to convert a muscular movement of the operator into mechanical displacements suited to correctly move the gripper . The handle can have an ergonomic shape to improve grip and reduce the effort required for use . The rod typically is tubular and is traversed by a motion transmission element, for example a cable that transfers motion from the lever to the gripper . The rod is normally placed in a ball joint mounted on a separation wall between the environment where the articles to be handled are located and the environment where the operator is located. The rod can slide in the ball joint so that the gripper can translate along the longitudinal axis of the rod and rotate thanks to the ball joint . The gripper comprises a pair of j aws thatare interchangeable depending on the type of article to be handled .

[0010] Despite the degrees of freedom offered by the rotation of the ball joint and the rod through the ball joint, the gripper has a relatively reduced mobility within the cell, which does not allow it to operate with high precision, thus causing the following disadvantages . The operator must often correct the grip, opening and closing the gripper, hence increasing the risk of overturning the container . The containers must be placed on shelves or supports not too far apart in a vertical direction, thus reducing exploitation of the volume within the cell and, therefore, production efficiency. To reach the farthest areas of the cell, the operator is forced to assume incorrect positions, causing muscle tension and, as a consequence, excessive effort .

[0011] Summary

[0012] The obj ect of the invention is to provide a tele-plier for manipulating containers filled with radiopharmaceuticals within a cell of a pharmaceutical isolator, said tele-plier not suffering from the aforementioned drawbacks and, at the same time, being capable of being manufactured in a simple and low-cost manner .

[0013] According to the invention, there is provided a tele-plier for manipulating articles, in particular containers for drugs or radiopharmaceuticals or radioactive products,within a working chamber, in particular of a pharmaceutical isolator, according to the appended claims .

[0014] The appended claims describe preferred embodiments of the invention to be considered as an integral part of the description .

[0015] Brief Description of the Drawings

[0016] The invention will now be described with reference to the accompanying drawings showing a non-limiting embodiment thereof, wherein:

[0017] figure 1 shows the tele-plier of the invention, according to a perspective view and torn in the area of a rod of the tele-plier;

[0018] - figure 2 shows a part of the tele-plier comprising the handle, when the tele-plier is in a first operating configuration, according to a perspective view in which an element was removed in order to show inner parts of the tele-plier;

[0019] - figure 3 shows a part of the tele-plier comprising a gripper, when the tele-plier is in the first operating configuration, according to a sectional view along a longitudinal plane perpendicular to the direction of movement of the j aws of the gripper;

[0020] - figure 4 shows the same part of the tele-plier as figure 3, however, when the gripper is in a second operating configuration, according to a sectional view along a furtherlongitudinal plane parallel to the direction of movement of the j aws of the gripper;

[0021] figures 5 to 7 show three different operating configurations of the tele-plier; and

[0022] - figure 8 shows the tele-plier positioned, in use, with the rod through a ball joint that can be mounted on a wall or door of said working chamber .

[0023] Description of Embodiments

[0024] In figure 1, number 1 generically indicates, as a whole, a tele-plier for manipulating articles, in particular containers filled with drugs or radiopharmaceuticals or radioactive products, within a working chamber (not shown) , in particular of a pharmaceutical isolator . The tele-plier 1 comprises a tubular rod 2 extending along a longitudinal axis 2a, a gripper 3 located in the area of a first end 4 of the tubular rod 2 and having two j aws 5, which extend along a longitudinal axis 3a of the gripper 3 and are movable along a direction 3b transverse to said longitudinal axis 3a, a handle 6 located in the area of a second end 7 of the tubular rod 2 and comprising a lever 8 , which can manually be operated by an operator (not shown) . The tele-plier 1 is shown with the tubular rod 2 torn off in order to show the other parts in greater detail .

[0025] The tele-plier 2 comprises a first hinge joint 9 mounted on the end 4 of the tubular rod 2 for supporting the gripper3 in a rotating manner about a first axis 9a transverse to the longitudinal axis 2a and a second hinge joint 10 mounted in the area of the end 7 of the tubular rod 2 for supporting the handle 6 in a rotating manner about a second axis 10a parallel to the first axis 9a . The two hinge joints 9 and 10 define two joints of the tele-plier 1. In other words, the hinge joint 9 is a rotating interface between the rod 2 and the gripper 3 and the hinge joint 10 is a rotating interface between the rod 2 and the handle 7 . The two axes 9a and 10a are parallel to the direction 3b .

[0026] With reference also to figure 2, the tele-plier 1 comprises a support frame 11, which is integral to the end 7 of the tubular rod 2, and the hinge joint 10 is defined by a rotating coupling between the support frame 11 and a first end portion 12 of the handle 6 by means of a pin 13 coaxial to the axis 10a. In other words, the hinge joint 10 is located on the first end portion 12 of the handle 6 and is connected to the support frame 11. The handle 6 comprises a second end portion 14 in a position that is longitudinally opposite, namely in the direction of the length of the handle 6, that of the first end portion 12 and the lever 8 is hinged on the second end portion 14 so as to rotate about an axis 8a parallel to the axis 10a

[0027] In particular, the support frame 11 comprises a body 15 having a longitudinal through hole 16 to be engaged by the

[0028]

[0029] against the other with the interposition of the body 15 and a plurality of spacer elements 18. Figure 2 shows the support frame 11 without a plate 17 so as to show the inside of the support frame 11. The two plates 17 have an arc shape so as to give the support frame 11 the same arc shape . The body 15 is located at a first end of said arc shape and the hinge joint 10 is located at the second end of the arc shape so that the handle 6 can rotate about the axis 10a until it enters the concave side of the arc shape, as shown in figures 1 and 2 .

[0030] The tele-plier 1 comprises a control system 19, which comprises : a first motion transmission element 20 running through the inside of the tubular rod 2 and connecting the lever 8 to the gripper 3 to allow the lever 8 to control the closing and opening of the aws 5; and a second motion transmission element 21 running through the inside of the tubular rod 2 and connecting the handle 6 to the gripper 3 in such a way that an angular displacement of the handle 6 with respect to the axis 10a causes an angular displacement of the gripper 3 with respect to the axis 9a .

[0031] In the example shown in the figures, the two motion transmission elements 20 and 21 are flexible . In particular, the two motion transmission elements 20 and 21 consist of two respective cables . For the sake of simplicity, withoutlacking generality, reference will now be made to the example comprising the two cables by indicating them with the numbers 20 and 21. As shown in figure 2 and better described below, the control system 19 comprises a plurality of diverting elements for diverting the cables 20 and 21 from the lever 8 and from the handle 6 within the support frame 11 , namely between the two plates 17, up to the end 7 of the tubular rod 2 so that the two cables 20 and 21 enter the tubular rod 2 parallel to the longitudinal axis 2a .

[0032] With reference also to figure 3, which shows the hinge joint 9 and the gripper along a section plane perpendicular to the axis 9a, the hinge joint 9 comprises a first body 22 integral to the end 4 of the tubular rod 2, and a second body 23, which supports the gripper 3 and is coupled to the first body 22 in a rotating manner by means of a pin 24 coaxial to the axis 9a . The cable 21 has one end 21a connected to the end portion 12 of the handle 6 ( figure 2 ) and the other end 21b connected to the body 23 ( figure 3) . The plurality of diverting elements comprise a first sheave 25 ( figure 3) coaxial to the axis 9a and a second sheave 26 ( figure 2 ) coaxial to the axis 10a . The cable 21 is coupled to the sheaves 25 and 26 to define two respective pulleys that allow the body 23 to rotate about the axis 9a when the handle 6 rotates about the axis 10a .

[0033] With reference also to figure 4, which shows the hingejoint 9 along a section plane on which the longitudinal axis 2a lies when the tele-plier 1 is in an operating configuration in which the longitudinal axes 2a and 3a are parallel to one another, the body 22 comprises a sleeve 27, which is coaxially fitted onto the end 4 so that a longitudinal axis of the body 22 coincides with the longitudinal axis 2a of the tubular rod 2. The longitudinal axis of the body 23, on the other hand, coincides with the longitudinal axis 3a of the gripper 3.

[0034] The control system 19 comprises at least one first elastic element, and in particular two elastic elements 28 ( figures 1 and 4 ) , mounted between the body 22 and the body 23 for normally maintaining a rest angle 0o ( figure 3) between the longitudinal axis 2a and the longitudinal axis 3a so that, in use, a torque, with respect to the axis 10a, exerted through the handle 6 against the action of the elastic elements 28 allows the body 23 to rotate with respect to the body 22 and, hence, allows the gripper 3 to rotate according to a direction such as to move the longitudinal axis 3a away from the position defined by the rest angle 0o .

[0035] In the example shown in figures 1 and 3, the rest angle 0o is different from a straight angle (namely, different from 180° ) . As mentioned above, figure 4 corresponds, on the other hand, to a different operating configuration of the tele-plier 1, in which the longitudinal axes 2a and 3a areparallel to one another and, in particular, coincident due to the particular arrangement of the gripper 3 on the body 23 .

[0036] Each elastic element 28 consists of a helical spring, which is fitted on a respective neck 29 of the body 22 that laterally proj ects from the body 22 itself coaxially to the axis 9a and which comprises two straight terminals 30 and 31 coupled to two respective teeth 32 and 33 laterally protruding, a first one, from the body 22 and, the second one, from the body 23.

[0037] The two pulleys defined by the sheaves 25 and 26 are preferably configured so that an angular displacement of the handle 6 about the axis 10a causes an angular displacement of the gripper 3 about the axis 9a in the same direction.

[0038] To this regard, figures 5 to 7 show the same side view of the tele-plier 1 in three respective operating configurations defined by the different position of the handle 6. In figure 5, the handle 6 is at rest and therefore the longitudinal axis 2a and the longitudinal axis 3a form the rest angle 0o . In particular, the handle 6 faces downwards and the gripper 3 is also inclined downwards with respect to the tubular rod 2. In figure 6, the handle 6 is raised, thanks to the action exerted by the hand of an operator (not shown) , to such an extent as to raise the gripper 3 until the longitudinal axis 3a is parallel to thelongitudinal axis 2a of the tubular rod 2. In figure 7, the handle 6 is further raised to further raise the gripper 3 until it is tilted upwards with respect to the tubular rod 2. Therefore, a counterclockwise angular rotation of the handle 6 about the axis 10a produces a counterclockwise rotation of the gripper 3 about the axis 9a and vice versa for a clockwise rotation.

[0039] With reference again to figures 2, 3 and 4, the gripper 3 comprises an arms assembly 34 mounted on the hinge joint 9 to mutually move the two aws 5 with respect to one another and the control system 19 comprises a slider 35, which is movable transversely to the axis 9a along a seat 36 of the body 23 and is kinematically connected to the arms assembly 34. The cable 20 has one end 20a connected to the lever 8 ( figure 2 ) and the other end 20b connected to the slider 35 ( figures 3 and 4 ) . The plurality of diverting elements comprise a third sheave 37 ( figure 2 ) coupled to the cable 20 to define a third pulley that allows the slider 35 to move and therefore act upon the arms assembly 34 when the lever 8 is operated.

[0040] The control system 19 comprises a further elastic element 38 for holding the slider 35 in a rest position in the seat 36, which is the one shown in figures 3 and 4, corresponding to a certain mutual position of the j aws 5 so that, in use, a force exerted to pull the lever 8 againstthe action of the elastic element 38 allows the slider 35 to move away from the rest position and, thus, move the arms assembly 34 to move the j aws 5 from said certain mutual position. In particular, the elastic element 38 consists of a helical spring placed in the seat 36, between the slider 35 and a bottom wall 39 of the seat 36 so as to work by compression .

[0041] More in detail, the arms assembly 34 comprises two articulated quadrilaterals 40, each of which comprises a first side hinged to the body 23 and a second side opposite the first side and hinged to a respective aw 5 of the gripper 3, and the slider 35 is connected to the two articulated quadrilaterals 40 by means of two respective connecting rods 41.

[0042] In the example shown in the figures, the rest position corresponds to an open position of the j aws 5, in which the j aws 5 are far from one another . Therefore, by pulling the lever 8, the j aws 5 are moved to a closed position (not shown) , in which the j aws 5 are close to one another .

[0043] With particular reference to figure 2, the plurality of diverting elements comprise a plurality of pairs of diverting elements 42 located along the support frame 11 to divert the cable 20 from the sheave 37 to the end 7 of the tubular rod 2 and the cable 21 from the sheave 26 to the end 7 of the tubular rod 2. Preferably, each pair of diverting elements42 comprises a sheave 43 for the cable 20 and a further sheave 44 for the cable 21.

[0044] With particular reference to figures 3 and 4, the plurality of diverting elements comprise a series of three sheaves, indicated with 45, 46 and 47 respectively, located in the hinge joint 9 to divert the cable 20 around the axis 9a and, at the same time, keep the cable 20 parallel to the longitudinal axis 2a in the area of the end 4 of the tubular rod 2 and parallel to the longitudinal axis 3a in the area of the gripper 3. In particular, the sheave 45 is located in the body 22, the sheave 46 ( figure 4 ) , the central one of the three, is coaxial to the axis 9a, and the sheave 47 is located in the body 43. The plurality of diverting elements comprise a further sheave 48 located in the hinge joint 9, and in particular in the body 22, to keep the cable 21 parallel to the longitudinal axis 2a in the area of the end 4 of the tubular rod 2.

[0045] Figure 8 shows the tele-plier 1 through a ball joint 49 that can be mounted on a wall or door (not shown) of a working chamber of a pharmaceutical isolator, in different working situations, in which the gripper 3 must handle articles at different heights from a floor of the working chamber . As shown in the figures, by raising or lowering the handle 6 with respect to the tubular rod 2, it is possible to keep the gripper 3 always with its longitudinal axis 3asubstantially horizontal .

[0046] Even though the invention described above relates to a very specific embodiment shown herein, it should not be considered as limited to said embodiment, for its scope of protection also includes all those variants, changes or simplifications that are not shown herein but are covered by the appended claims, such as for example :

[0047] - the motion transmission elements 20 and 21 consist of rigid rods and the diverting elements do not include sheaves but appropriate levers configured to handle the movement of the rigid rods;

[0048] - the motion transmission elements 20 and 21 consist of respective transmission belts;

[0049] - the hinge joint 10 does not include the support frame 11 and is obtained between the end portion 14 (the same one to which the lever 8 is hinged) and the body 15 fitted on the end 7 of the tubular rod 2 ;

[0050] - the pulleys defined by the sheaves 25 and 26 are configured so that the angular displacement of the handle 6 about the axis 10a and the corresponding angular displacement of the gripper 3 about the axis 9a have an opposite direction; and

[0051] - the rest position of the slider 35 corresponds to a closed position of the aws 5.

[0052] In addition, the tele-plier 1 described above issuitable for handling any article remotely, and in particular when the articles to be handled are in a working environment that is separated, for various reasons, by means of a wall or door, from another working environment accommodating the operator who acts upon the manual controls, namely on the handle 6 and on the lever 8, of the tele-plier 1.

[0053] The main advantage of the tele-plier 1 is a high mobility thanks to the joints defined by the hinge joints 9 and 10, which enable a more precise handling within the working chamber where the gripper 3 moves and, therefore, reduce the risk of overturning the article and increase the exploitation of the volume of the working chamber, namely they allow the shelves or supports for the articles to be placed at greater mutual vertical distances . Another advantage of the tele-plier 1 is greater ergonomics, also thanks to the joints defined by the hinge joints 9 and 10, which reduces the muscular effort of the operator . In addition, the angular displacement of the gripper 3 about the axis 9a which has the same direction as the angular displacement of the handle 6 about the axis 10a makes the remote tele-plier 1 very intuitive to use . Finally, the control system 19 comprising one single motion transmission element 20 for controlling opening and closing of the gripper 3 and one single motion transmission element 21 for controlling the rotation of the gripper 3 makes the tele-plier 1 extremely reliable and robust, and therefore suitable for handling, within the cell of a pharmaceutical isolator, articles having a certain weight, namely containers filled with radiopharmaceuticals .

Claims

C L A I M S1 . Tele-plier for manipulating articles , particularly containers for drugs or radiopharmaceuticals or radioactive products , within a working chamber, particularly a pharmaceutical isolator, the tele-plier ( 1 ) comprising a tubular rod ( 2 ) extending along a longitudinal axis ( 2a ) , a gripper ( 3 ) having two movable j aws ( 5 ) , a handle ( 6 ) comprising a lever ( 8 ) that can be operated manually by an operator, a first hinge j oint ( 9 ) mounted on a first end ( 4 ) of the tubular rod ( 2 ) to support the gripper ( 3 ) in a rotating manner about a first axis ( 9a ) transverse to said longitudinal axis ( 2a ) , a second hinge j oint ( 10 ) mounted on a second end ( 7 ) of the tubular rod ( 2 ) to support the handle ( 6 ) in a rotating manner about a second axis ( 10a ) parallel to the first axis ( 9a ) , and a control system ( 19 ) to allow the lever ( 8 ) to control the gripper ( 3 ) and the handle ( 6 ) to rotate the gripper ( 3 ) ; the tele-plier ( 1 ) being characteri zed in that the control system ( 19 ) comprises one single first motion transmission element ( 20 ) running through the tubular rod ( 2 ) and connecting the lever ( 8 ) to the gripper ( 3 ) to enable the lever ( 8 ) to control closing and opening of the j aws ( 5 ) and one single second motion transmission element ( 21 ) running along the tubular rod ( 2 ) and connecting the handle ( 6 ) to the gripper ( 3 ) to allow an angular displacement of the handle ( 6 ) with respect to thesecond axis ( 10a ) to cause an angular displacement of the gripper ( 3 ) with respect to the first axis ( 9a ) .2 . The tele-plier according to claim 1 , wherein the first motion transmission element ( 20 ) and the second motion transmission element ( 21 ) comprise a first cable and, respectively, a second cable .

3. The tele-plier according to claim 1 or 2 , wherein : the first hinge j oint ( 9 ) comprises a first body ( 22 ) integral with the first end ( 4 ) of the tubular rod ( 2 ) , and a second body ( 23 ) , which is coupled to the first body ( 22 ) in a rotating manner and supports the gripper ( 3 ) ; the tele-plier ( 1 ) comprises a support frame ( 11 ) integral with the second end ( 7 ) of the tubular rod ( 2 ) ; the second hinge j oint ( 10 ) is defined by a rotating coupling between the support frame ( 11 ) and a first end portion ( 12 ) of the handle ( 6 ) ; the control system ( 19 ) comprises a plurality of de flecting elements comprising a first sheave ( 25 ) coaxial to the first axis ( 9a ) and a second sheave ( 26 ) coaxial to the second axis ( 10a ) ; and the second motion transmission element ( 21 ) is flexible , has a first end ( 21 a ) connected to the first end portion ( 12 ) of the handle ( 6 ) and a second end ( 21b ) connected to the second body ( 23 ) , and is coupled with the first sheave ( 25 ) and the second sheave ( 26 ) to define two respective pulleys capable of rotating the second body ( 23 ) around the first axis ( 9a ) when the handle ( 6 ) rotates aroundthe second axis ( 10a ) .4 . The tele-plier according to claim 3 , wherein the control system ( 19 ) comprises at least a first elastic element ( 28 ) mounted between the first body ( 22 ) and the second body ( 23 ) for maintaining a rest angle ( 0o ) between a longitudinal axis ( 2a ) of the first body ( 22 ) and a longitudinal axis ( 3a ) of the second body ( 23 ) such that , in use , a torque , with respect to the second axis ( 10a ) , exerted through the handle ( 6 ) against the action of the first elastic element ( 28 ) allows the second body ( 23 ) to rotate with respect to the first body ( 22 ) from the rest angle ( 0o ) .5 . The tele-plier according to claim 3 or 4 , wherein said two pulleys are configured such that the angular displacement of the handle ( 6 ) and the angular displacement of the gripper ( 3 ) have the same direction .

6. The tele-plier according to any one of claims 1 to 5 , wherein : the handle ( 6 ) comprises a first end portion ( 12 ) and a second end portion ( 14 ) in longitudinally reciprocally opposite positions ; the tele-plier ( 1 ) comprises a support frame ( 11 ) , which is integral with the second end portion ( 7 ) of the tubular rod ( 2 ) , and the second hinge j oint ( 10 ) is defined by a rotating coupling between the support frame ( 11 ) and the first end portion ( 12 ) of the handle ( 6 ) ; and the lever ( 8 ) is hinged to the second end portion ( 14 ) of the handle ( 6 ) .7 . The tele-plier according to any one of claims 3 to 6 , wherein the support frame ( 11 ) has an arc shape , the second end ( 7 ) of the tubular rod ( 2 ) is integral with a first end of the arc shape , and the second hinge j oint ( 10 ) is located in the second end of the arc shape such that the handle ( 6 ) can rotate about the second axis ( 10a ) until it enters the concave side of the arc shape .8 . The tele-plier according to any one of claims 3 to 7 , wherein the control system ( 19 ) comprises a plurality of diverting elements comprising a third sheave ( 37 ) coaxial to the second axis ( 10a ) , and the first motion transmission element ( 20 ) is f lexible , has a first end ( 20a ) connected to the lever ( 8 ) and a second end ( 20b ) kinematically connected to the aws ( 5 ) , and is coupled to the third sheave ( 37 ) to define a third pulley that allows the gripper ( 3 ) to be actuated when the lever ( 8 ) is operated .

9. The tele-plier according to claim 8 , wherein the plurality of diverting elements comprises a plurality of pairs of diverting elements ( 42 ) arranged along the support frame ( 11 ) to divert the first motion transmission element ( 20 ) from the third sheave ( 37 ) to the second end ( 7 ) of the tubular rod ( 2 ) and the second motion transmission element ( 21 ) from the second sheave ( 26 ) to the second end ( 7 ) of the tubular rod ( 2 ) ; preferably each pair of diverting elements ( 42 ) comprises a sheave ( 43 ) for the first motiontransmission element (20) and an additional sheave (44 ) for the second motion transmission element (21 ) .

10. The tele-plier according to any one of claims 1 to 9, wherein: the gripper (3) comprises an arms assembly (34 ) mounted on the first hinge joint ( 9) to move the two aws (5) reciprocally with each other; the control system ( 19) comprises a slider (35) , which is movable transversely to the first axis ( 9a) along a seat (36) of the second body (23) and is kinematically connected to the arms assembly (34 ) ; the first motion transmission element (20) is flexible and has a first end connected to the slider (35) and a second end connected to the lever ( 8 ) ; and the control system ( 19) comprises a plurality of diverting elements comprising a third sheave (37 ) coaxial to the second axle ( 10a) and coupled to the first motion transmission element (20) to define a third sheave to move the slider (35) and thus act on the arms assembly (34 ) when the lever ( 8 ) is actuated.

11. The tele-plier according to claim 10, wherein the control system ( 19) comprises a second spring element (38 ) for maintaining the slider (35) in a rest position in the seat (36) corresponding to a certain reciprocal position of the j aws (5) such that, in use, a force exerted to pull the lever ( 8 ) against the action of the second elastic element (38 ) allows the slider (35) to move away from its rest position and thus move the arms assembly (34 ) to move thej aws (5) from said certain reciprocal position.

12. The tele-plier according to claim 10 or 11, wherein the arms assembly (34 ) comprises two articulated quadrilaterals (40) , each of which comprises a first side hinged to the second body (23) and a second side opposite the first side and hinged to a respective aw (5) of the gripper (3) , and the slider (35) is connected to the two articulated quadrilaterals (40) .

13. The tele-plier according to any one of claims 1 to 12, wherein said tubular rod (2 ) is positionable in an axially sliding manner through a ball joint (49) mountable on a wall or hatch of said working chamber .

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