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Remote Handling design progress for the Collimation Upgrade project

Remote Handling design progress for the Collimation Upgrade project. Keith Kershaw EN-HE 6 June 2011. Contents. Introduction – refresher (on-going process) Four areas of work as proposed and agreed in 2010 . First mock up tests – remote handling of collimator .

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Remote Handling design progress for the Collimation Upgrade project

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  1. Remote Handling design progress for the Collimation Upgrade project Keith Kershaw EN-HE 6 June 2011

  2. Contents • Introduction – refresher (on-going process) • Four areas of work as proposed and agreed in 2010 Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  3. First mock up tests – remote handling of collimator Dummy collimator installed on base using modified truck loader crane fitted with hoist and spreader rotation. Operation with only camera viewing and remote controls Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  4. Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  5. Reserved space for collimator handling LHCHMUMC_0001 Implications for infrastructure Implications for collimator dimensions It was necessary to modify water pipes Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  6. Installation using specially designed trailer crane Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  7. Plug – ins: Careful guidance during LHC installation (not ideal for the future) Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  8. Plug-in behaviour tests 2010 Practical investigations in LHC tunnel mock-up by EN-STI, EN-MME and EN-HE. Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  9. Water plug - ins Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  10. Infrastructure P7 (need to pass via TZ76) Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  11. Passage at point 7 - Improvement of entry to UJ 76. Need to move grille Shorter push-pull bar and push attachment point on Palfinger Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  12. Palfinger 1000kg trailer - crane • Custom design for collimator handling • Increased capacity (2x previous) • Better control with radio control • Flat loading surface (pump underneath) • Operation zone at “rear”end of trailer • Asymmetric stabilizers to reduce width Safety checks at the factory Spreader beam load test Stability tests at 125% Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  13. EN-HE radioactive collimator handling equipment development work 2010 onwards • Optimisation of collimator transfer etc • Remote collimator exchange crane vehicle • Vacuum disconnection mobile robot • Remote Survey (HE part - see Patrick Bestmann’s presentation) Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  14. 1) Optimisation of collimator transfer • Improve remote controls on the two existing 500 kg trailer cranes. • Compact shielded tractor units to tow the trailer cranes • Partially shielded trailers for transporting the collimators (weight of shielding restricted by LHC point 7 lift capacity of 1 tonne) • Additional 1000kg capacity trailer crane • Minor infrastructure modifications to improve passage. Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  15. 2) Remote collimator exchange crane vehicle • Two remote control vehicles fitted with 1tonne crane (One + option) • Camera viewing system • Accessories, mock up tests, infrastructure preparation Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  16. Collimator remote crane design features • 1000kg crane load capacity • Support platform for collimator transfer • Dimensions compatible with LSS7 • Remote control of all movements • Powered rotation of spreader • Powered extension of stabilisers • Powered traction • Powered steering • Supports to add shielding • Manoeuvrability compatible with chicanes at point 7 • Powered from monorail in tunnel (MAFI-type trolley) • Possible to tow out in event of breakdown Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  17. Power from monorail LHC Cryomagnet transport vehicle power trolley and push-pull bar. Notes : New trolley design needed to allow mounting on continuous monorail Use trolley for overview camera mounting Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  18. Collimator remote crane - status • Market survey currently with specification committee – out this week • Conceptual design for specification in progress • Specification based on previous trailer cranes • Aim for December 2011 Finance committee (1 + option is borderline for FC threshold) • Delivery end 2012 Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  19. 3) Vacuum disconnection mobile robot Main items in cost estimate • Test equipment and trials • Robot with force reflecting master arm • Vehicle • Cable handling and accessories • Plan is based on studies and tests in 2011- 1012 then major purchases of equipment in 2013-2014 Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  20. Collimator connections Turn nuts to release “unstructured” environment Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  21. Bellows compressor Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  22. Vacuum disconnection mobile robot Basic idea for cost estimation: Industrial robot controlled using force-reflecting master arm mounted on remote control vehicle CEA LIST Master arm used with Staubli robot Remote control vehicle (Kuka shown) CEA pictures from: Overview of remote handling technologies developed for inspection and maintenance of spent fuel management facilities in France: Philippe DESBATS (CEA-LIST), Gérard PIOLAIN (COGEMA-HAG/DMCO), Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  23. Collimator remote disconnection development issues • Determine level of remote handling sophistication and viewing necessary for task • Determine geometrical requirements • Navigation and communication issues • Review – radiation dose implications, risks etc Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  24. Determine level of remote handling sophistication necessary for task • Practical mock-up tests with different remote handling techniques: e.g. master slave force reflecting manipulator , joystick control Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  25. Determine geometrical requirements • Inventory of collimators, 3D models, photos. (eg alignment of flange release nuts) • Collect details of tooling • Define geometrical restrictions and check against commercial manipulator /robot arms • Catia studies Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  26. Solve mobile platform navigation and communication issues • We have obtained EU Marie Curie funding to look into mobile platform issues specific to CERN’s radiation environment • We are currently designing and will build a mobile test platform for this • It will be possible to equip the mobile platform with an arm Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  27. Disconnection review – radiation dose implications, risks etc • We have a joint project with RP and have obtained EU Marie Curie funding to look into radiation dose implications of handling scenarios. The collimator exchange will be a major case for this work. Report at end of 2011 bringing together test and study outcomes with intermediate conclusions and way ahead. Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  28. Remote Survey (HE part) Please see Patrick Bestmann’s presentation) Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  29. Any Questions? Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  30. Extra slides Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  31. Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

  32. Collimation Working Group 6 June 2011 Keith Kershaw EN-HE

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