The ISOLDE robots upgrade JL GRENARD EN-HE ISOLDE Workshop and Users meeting 15-12-2014.

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Presentation transcript:

The ISOLDE robots upgrade JL GRENARD EN-HE ISOLDE Workshop and Users meeting

Content Overwiew of the target area Motivations for the change The differents solutions evaluated The installation and commissionning Futur evolution of the system 2

The ISOLDE facility 3

What do the robots do? Exchange of the targets of the ISOLDE facility The robots are part of the process of the facility 4

Interfaces of the facility Front EndStorage shielded sleves 5

Motivation for change Obsolete controls leading to unacceptable failure rate No remote recovery options 6

First idea: robot mounted on an AGV Not retained In case of failure all the electronics is onboard No easy remote recovery! Autonomous vehicle -Battery powered -Onboard controller -Navigation system integrated for positioning 7

Solution adopted Two industrial robots mounted on a linear axis 8

How to decide between those options 9

Some reasons for the selected solution Safe robot technology integrate safety volume -> no need to add extra sensors for protecting the infrastructure No electronics in the hazardous area Possible to customise Displacement of an electronic board outside of the radioactive area Replacement of all the cables with radiation tolerant ones 10

Full scale mock up testing Testing of the system including recovery methods 11

3D simulations and automatic programming Dedicated simulation software which automatically generates the code 12

Old robots dismantling 13

The installation Needs of drilling around 200 holes in the concrete Around 10t of new equipement installed 1.2 km of cables installed 14

Programming and testing Final setup of the overall system Thanks to the mock up testing and the 3D simulation only minor adjustement were needed Precision and repetability as expected 15

Work in the target area Several mSv/h at several point of work Cost in term of dosimetry 13.4mSv Shared between ~90 workers Worksite executed over 16 months 16

The new configuration New robots characteristics - Lifting capacity : ~30kg at full speed - Reach of the arm: 2.23m - Precision: 0.5mm - Max linear speed: ~2m/s used for the target exchange at only 10% of the speed capability CERN system integration - mechanical, software, trajectories - Interfaced with the access system, storage shelves, front end 17

Aditionnal refurbishment Shielded storage sleves Front End coupling tables 18

Evolution of the system In 2015 installation of a 3rd robot for MEDICIS 19

Final system in the coming years 3D animation 20

21 Thanks to all the teams involved in this work EN/HE: M. Czech, DGS/RP: A. Dorsival, C. Saury, M. Deschamps, J. Vollaire EN/STI: R. Catherall, T. Stora, AP. Bernardes, S. Marzari, J. Lendaro, M. Di Castro, C. Mitifiot, M. Vagnoni, M. Owen, C. Lemesre, D. Phan, B. Crepieux EN/CV: A. Polato, M. Battistin, A. Sabri, N. Roget EN/MME: S. Atieh, JP. Brachet, P. Mesenge, A. Porret EN/EL: P. Lelong, R. Necca EN/MEF: A. Pardon, M. Arnaud, M. Bonnet BE/OP: P. Fernier GS/ASE: E. Sanchez Coral, F. Valentini, D. Chapuis, B. Morand, L. Hammouti ….

Questions ? 22