(19)

(11)

EP 3 890 927 A1

(12)

(43) Date of publication: 13.10.2021 Bulletin 2021/41 (21) Application number: 19821161.7 (22) Date of filing: 04.12.2019

(51) International Patent Classification (IPC):  B25J 9/16(2006.01) (52) Cooperative Patent Classification (CPC): B25J 9/1625; G05B 2219/40131; G01T 7/00; B25J 9/1689; B25J 9/1671; Y02E 30/30 (86) International application number: PCT/GB2019/053426 (87) International publication number: WO 2020/115479 (11.06.2020 Gazette 2020/24)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA ME Designated Validation States: KH MA MD TN (30) Priority: 04.12.2018 GB 201819805 04.12.2018 GB 201819806 31.07.2019 GB 201910943 (71) Applicant: Cavendish Nuclear Limited Warrington WA3 6YD (GB)	(72) Inventor: OLNER, William Birchwood Warrington WA3 6YD (GB) (74) Representative: Pawlyn, Anthony Neil  Urquhart-Dykes & Lord LLP Arena Point Merrion Way Leeds LS2 8PA Arena Point Merrion Way Leeds LS2 8PA (GB)