06 remote handling inas · 2010. 11. 23. · remote handling / inas dipl.-ing. steffen reinhardt...
TRANSCRIPT
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KIT – University of the State of Baden-Wuerttemberg and National Research Center of the Helmholtz Association www.kit.edu
Source: http://www.pbase.com/camboy/image/48351518
Technology and Management for the Decommissioning of Nuclear Facilities – Prof. Dr.-Ing. Sascha Gentes
IAEA WorkshopRemote Handling / INASDipl.-Ing. Steffen Reinhardt
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KIT – University of the State of Baden-Wuerttemberg and National Research Center of the Helmholtz Association www.kit.edu
Source: http://www.pbase.com/camboy/image/48351518
Technology and Management for the Decommissioning of Nuclear Facilities – Prof. Dr.-Ing. Sascha Gentes
Part 1- Remote Handling
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3 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
ContentPart 1 - Remote Handling
Conceptual explanationHistorical developmentRemote handling technology
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4 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
Conceptual ExplanationThe remote handling allows it to operate by remote control a machine which is in a danger area
The system consists of an operator and a manipulator. The operator gives instructions and the manipulator executes them. So that the operator can stay at a safe place, an information and/or energy transfer must exist between him and the manipulator
The information and energy transfer happens about cable, wirelessly only information can be transferred
A remote-handled manipulator mostly has multiple video cameras therewith the operator can also navigate and work on non-accessible places
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5 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
Historical Development
Ctesibius of Alexandriaapprox. 250 BC
1495 Leonardo da Vinci
1897Nikola Tesla
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6 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
Historical Development1945 - Development of master-slave manipulators (remote handling)1954 - "Programmed transportation of goods" (industrial robots)1959 - First commercial robots from Planet Corporation (controlled via
Cam discs and limit switches) 1961 - Using freely programmable robots1968 - First mobile robots with image recognition of the surrounding
area and touch sensors1969 - The first industrial robots in Japan1970 - The first industrial robots in Europe1975 - SCARA robots in Japan (six-axis articulated arm)2010 - Humanoid RobotNext - Artificial intelligence & multi-function implement
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7 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
Historical DevelopmentThe first master-slave-manipulator was developed in 1949 to move around components in the research reactor in Argonne Nationwide Laboratory (USA)
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8 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
Remote Handling TechnologyRemote handling device
Diameter rod: 14 or 20 mmHandle of anodized aluminumRod and tongs of stainless steelDimensions / weight: L = 1000 mm / weight approx. 1 kg
Source: Wälischmiller Engineering GmbH, Universally grab arm A01
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9 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
Master-slave-manipulatorsMain application
Versatile, particularly for people in hazardous environments where heavy work is run
AdvantageFunctions of the human arm modeledUniversal/multi-useExtensive equipment
DisadvantagePermanently installed in the wallLimited working rangeLimited power and strength
28.09.2010
Remote Handling Technology
Source: Wälischmiller Engineering GmbH, Master-Slave-Manipulator system HWM A100
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10 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
Master-slave-joint-manipulatorsAdvantage
Functions of the human arm modeledUniversal/multi-useRotational and pivoting motionof the gripper are transmittedin a 1:1 ratioExtensive equipment
DisadvantagePermanently installed in the wallLimited working rangeLimited power and strength
28.09.2010
Remote Handling Technology
Source: Wälischmiller Engineering GmbH, Master-Slave-Manipulator system HWM A200/A201-E
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11 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
Master-slave-manipulators in use
28.09.2010
Remote Handling Technology
Source: WAK Karlsruhe GmbH
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12 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
Power manipulatorsAdvantage
High load capacityVersatile use with optional crane hookExtensive equipment
DisadvantageRelatively slowNo mechanical adjustment possibility
28.09.2010
Remote Handling Technology
Source: WAK Karlsruhe GmbH, Manipulator TA 40
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13 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
Power manipulators in use
28.09.2010
Remote Handling Technology
Bracing device
Manipulatorarm
Positioning of the barrel
Extendable cross-arm for barrels
Collision metal sheet
Source: WAK Karlsruhe GmbH, Hersteller Siempelkamp
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14 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
Driverless transport systemsMain application
Highly contaminated/ activated areasAccident investigation
AdvantageMost remote radio-controlledRelatively mobileVersatile used
DisadvantageLimited loadSoil boundEnergy supply, restricted workspace
28.09.2010
Remote Handling Technology
Source: Kerntechnische Hilfsdienst GmbH
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15 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
Driverless transport systems
28.09.2010
Remote Handling Technology
Source: Kerntechnische Hilfsdienst GmbH
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16 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
Driverless transport systems
28.09.2010
Remote Handling Technology
Source: Kerntechnische Hilfsdienst GmbH
either radio or cable control possibleLMF
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17 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
Driverless transport systems
28.09.2010
Remote Handling Technology
Source: Kerntechnische Hilfsdienst GmbH
SMF
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18 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
Driverless transport systems
28.09.2010
Remote Handling Technology
Source: Kerntechnische Hilfsdienst GmbH
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19 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
Driverless transport systems in use
28.09.2010
Remote Handling Technology
Source: WAK Karlsruhe GmbH
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KIT – University of the State of Baden-Wuerttemberg and National Research Center of the Helmholtz Association www.kit.edu
Source: http://www.pbase.com/camboy/image/48351518
Technology and Management for the Decommissioning of Nuclear Facilities – Prof. Dr.-Ing. Sascha Gentes
Part 2 - Innovative Demolition Of Massive Reinforced Concrete Components - INAS
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21 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
ContentPart 2 - Innovative Demolition Of Massive Reinforced Concrete Components - INAS
General project dataProcedure chainCutting technologyOutlook
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22 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
General Project DataAim of project:
Description of the comprehensive procedure chain of the demolition of reinforced concrete up to the appropriate packaging for final disposal site in contaminated or activated areas
Sponsored by the
Cooperation between university and industrial enterprise
Federal Ministry of Educationand Research
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23 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
Procedure Chain
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24 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
Cutting TechnologyApplication of mechanical processes
Separation of the functions and test of both processes independent of each other for the demolition of concrete and reinforcing steelCombine both methods in one tool
ConcreteAdaptation of the undercutting technology for high-strength rocksAdditional suggestion with impulse forces (ODC)
Reinforcement steelDemolition by means of defined cutting edge (mill cutting)
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25 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
Cutting TechnologyCombination of undercutting and mill cutting
Undercutting of concrete (ODC)
Mill cutting of reinforcement
Source: Herrenknecht AG
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26 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
Cutting TechnologyOscillating disc cutter ODC
Motor
Oscillation generator
Tool / disk
Setting of cutting deepness
Source: Herrenknecht AG
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27 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
Cutting TechnologyOscillating disc cutter ODC – test results
s = 40 mm/sd = 10 mmf = 50 Hz
s = 90 mm/sd = 10mmf= 50Hz
Disk geometry
Button disk Ø100mm
Ring cutter Ø100mm
Source: Herrenknecht AG
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28 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
Cutting TechnologyMill cutting of reinforcement
Cutters with exchangeable insertsVariety of exchangeable inserts
DesignSubstrate of the base metalCoating, layers
CVD - Chemical Vapor DepositionPVD - Physical Vapor DepositionCBN - Cubic Boron NitridePKD - Polycrystalline Diamond
Source: Herrenknecht AG, NGK
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29 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
Cutting TechnologyMill cutting of reinforcement – test results
Source: Herrenknecht AG,
Line #1Line #2
Time – line #1
Time – line #2
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30 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
OutlookCarry out further tests of concrete and reinforcement cuttingChoice of the suitable tool geometry and cutting materials
Combination of both cutting technologiesInvestigation of the process parameters and the reaction forcesOptimization concerning the level of demolition
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31 Technology and Management for the Decommissioning of Nuclear Facilities
Remote Handling / INASDipl.-Ing. Steffen Reinhardt
28.09.2010
Thank You For Your Attention!