design of an automated system for a removable...
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Design of an automated system for a removable decay pipe window for LBNF!Salvatore Alberto Buccellato!Final Presentation!23rd September 2016!!
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LBNF!
9/22/2016!Salvatore Alberto Buccellato| Design of an automated system for a removable decay pipe window for LBNF!
2!
Long-Baseline Neutrino Facility!
Sending neutrinos on a 800 mi (1,300 km) journey
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Project Specification!
9/22/2016!3!
• Decay Pipe at a Positive Helium pressure 5 psig (0.34 bar)!
!• Operation 2.3 MW!!• Window diameter of
1.5 meter!!• Window should be
curved and include a center section of beryllium!
!• Remotely
Removable!
Salvatore Alberto Buccellato| Design of an automated system for a removable decay pipe window for LBNF!
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• Highly radioactive environment: human access is not possible;!
• Beam-on dose rates preclude use of an elastomeric seal;!
• Remote positioning and tightening;!
• Permissible Seal Leak rate less 0.01 Std.cc/sec!
4! 9/22/2016!Salvatore Alberto Buccellato| Design of an automated system for a removable decay pipe window for LBNF!
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5!
Seal system!
Helicoflex® Seal
9/22/2016!Salvatore Alberto Buccellato| Design of an automated system for a removable decay pipe window for LBNF!
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Seal System Performance and loading!
• Metal Seals achieve leak rates on the order of 10-6 Std cc Helium / second.!– This is better than the 0.01 cc/sec requirement.!!
• Requires high load applied to seal:!– 1542 pounds per linear inch!– Total compression on seal is about 286,000 pounds (1.27 MN)!
• For comparison, the loading due to the 5 psig internal pressure is about 13,000 pounds!
6! 9/22/2016!Salvatore Alberto Buccellato| Design of an automated system for a removable decay pipe window for LBNF!
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7!
Previous Solutions!
Autoclave with rota4ng ring
9/22/2016!Salvatore Alberto Buccellato| Design of an automated system for a removable decay pipe window for LBNF!
Pressured slabs
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8!
New Solution!
There wasn’t enough pressure on the seal Use of a flange
9/22/2016!Salvatore Alberto Buccellato| Design of an automated system for a removable decay pipe window for LBNF!
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9!
Flange Choice!
Corrosion problems: use of steel is not possible Two solu4ons: Titanium, Stainless Steel We choose Titanium HEX HEAD M12 Safety Factor: 4.5
9/22/2016!Salvatore Alberto Buccellato| Design of an automated system for a removable decay pipe window for LBNF!
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10!
Flange Calculation!Bolt parameters
Bolt type M12 PL Strength 792MPa Stress Area 92,1 mm2
𝐹𝑖=𝑘×𝑆𝑝×𝐴𝑡
𝑘=0.9
𝑇=0.2×𝐹𝑖×𝑑=176𝑁𝑚
𝑇=129 𝑙𝑏𝑠 𝑓𝑡
𝐹𝑟=𝑌2×𝐷×𝜋=1,27×106 N
𝑛= 𝐹𝑟/𝐹𝑖 ∗𝜂=80
𝜂=4.5
9/22/2016!Salvatore Alberto Buccellato| Design of an automated system for a removable decay pipe window for LBNF!
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9/23/16!Presenter | Presentation Title!11!
Two possible solutions!
Tailored Design Commercial Robot We chose to have a conceptual design of both the solu4ons in order to understand which can be beUer for our purposes.
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9/23/16!Presenter | Presentation Title!12!
Tailored Design!
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13!
Replacement system requirements!
Major problem: space Cartesian robot not possible 2 Degrees of Freedom needed We can use steel and aluminum
9/22/2016!Salvatore Alberto Buccellato| Design of an automated system for a removable decay pipe window for LBNF!
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14!
Replacement system design!
• Rota4onal + Prisma4c Joint
• Curve Profile • Hydraulic Bolt Tightener • Socket Head Bolts
9/22/2016!Salvatore Alberto Buccellato| Design of an automated system for a removable decay pipe window for LBNF!
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15!
Saving space!
LynxDrive 20C with Harmonic Drive Technology Linear Actuator with Parallel Motor
9/22/2016!Salvatore Alberto Buccellato| Design of an automated system for a removable decay pipe window for LBNF!
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16!
Reducing Torque!
Aluminum hollow body 2 suppor4ng pins on bolt 4ghtener
9/22/2016!Salvatore Alberto Buccellato| Design of an automated system for a removable decay pipe window for LBNF!
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9/23/16!Presenter | Presentation Title!17!
Commercial Robot!
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9/23/16!Presenter | Presentation Title!18!
What do we need!
Buying a Commercial Robot, we want it to be: • Light • Versa4le • With high payload-‐weight
ra4o
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9/23/16!Presenter | Presentation Title!19!
Our Choice!
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9/23/16!Presenter | Presentation Title!20!
Pros and Cons: Commercial vs Tailored Designed!
+ No need for adaptability
+ Developed in Lab + Op4mized for this
task -‐ Need for tes4ng -‐ Costs -‐ More human
resources required -‐ Cannot be reused
for other applica4ons
+ Versa4le (can be reused)
+ Already tested + Cheaper + Fewer human
resources needed -‐ Not Op4mized -‐ Need to adapt to
the task
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9/23/16!Presenter | Presentation Title!21!
Our Choice!
Commercial Robot!
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9/23/16!Presenter | Presentation Title!22!
Impact Wrench - Requirements!
Weight < 5kg Small (less than 30 cm) Max Torque > 176 Nm Remotely Controllable Torque
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9/23/16!Presenter | Presentation Title!23!
Impact Wrench – Our Choice!
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9/23/16!Presenter | Presentation Title!24!
Impact Wrench - Automation!
The impact wrench is meant to be manual We have to find a way to automa4ze it: • BuUon holder
• Stepper motor switch
• Pressure regula4on
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9/23/16!Presenter | Presentation Title!25!
Impact Wrench and Robot Link!
Discharge the torque: two suppor4ng pins Modeled star4ng from the impact wrench rear
cover
Switch flanged
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9/23/16!Presenter | Presentation Title!26!
Window Replacement System!
Window s4ll ac4vated when removed Need for a radia4on shield Steel shield 5 cm thick
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9/23/16!Presenter | Presentation Title!27!
Window Replacement System!
Wheel-‐mounted system Two blocks come inside the window and clock in order to carry it Everything is moved with threaded rods
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9/23/16!Presenter | Presentation Title!28!
AirLock!
We want not to lose all the Helium Installa4on of an AirLock Opened just at beginning and ending of the opera4on
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9/23/16!Presenter | Presentation Title!29!
Full Design!
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9/23/16!Presenter | Presentation Title!30!
Full Design!
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9/23/16!Presenter | Presentation Title!31!
Full Design!
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9/23/16!Presenter | Presentation Title!32!
Full Design!
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9/23/16!Presenter | Presentation Title!33!
Further Steps!
Simula4ons and sizing; Development of a control system based on vision; Purchase of Robot and Impact Wrench; Tes4ng.
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34!
Thanks for your aUen4on
9/22/2016!Salvatore Alberto Buccellato| Design of an automated system for a removable decay pipe window for LBNF!