ZDC Remote Handling Tool Structure and Force Analysis P. Debbins University of Iowa December 10,...
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Transcript of ZDC Remote Handling Tool Structure and Force Analysis P. Debbins University of Iowa December 10,...
ZDC Remote Handling ToolStructure and Force Analysis
P. Debbins
University of Iowa
December 10, 2009
From March 6, 2009: Rotational arm, TAN anchors, and rotational geometriesWere determined to be free of interference and fully qualified for loads encountered. Vertical elevation sub-system was not fully developed.
Rotational Arm
Rotational Arm Anchor Actuator Anchor
Vertical Elevation System
Holes in Tunnel Floor to locate Sarco – Completed May 2009
Tapped Holes in TAN for Anchors and adjustment bars – Completed May 2009
Vertical Displacement
• Maximum displacement at load point is 0.034 inches
From March 6, 2009
Horizontal Displacement
• Maximum horizontal displacement is 0.01 inches
From March 6, 2009
Vertical Elevation system is nowSpecified and analyzed for loads anddisplacements resulting in determiningpayload placement accuracy
Rotational geometry is unchanged and Spatial occupancy of system is smaller than theenvelope used to establish clearances; non-interference with tunnel environment and TAN is preserved.
Vertical Elevator Layout
Vertical Lifting Motor
Frame Overhead Beam
Frame Sidewall
Payload Carrier Beam
Vertical Lift Screw
Rotational Spindle(Rot Arm Articulation)
Linear guide railfor Carrier Beam
90’ Brace – shown this side only
Merkur M1 Screw Jack(1 of 2)
Payload Carrier Beam
End Blocks: singleMachined piece
Beam tubes and X-webbing are welded from 5mm steel plate stock, water jet cut to form
Material: S235J steel. This is stocked atCERN (also available in the US)
Fabrication: End blocks are machined Oversize and without attachment holesor screw jack placement features.Welded internal beam structure is Fabricated separately. End blocks are Welded on secured by jig. Final machiningof as-fabricated beam ensures parallelismand dimensional accuracy of features.Design conducted with consultation of machine and weld shops
Frame Overhead Beam
Construction methodology is identical toThe Carrier Beam
Frame Sidewall
Material and Construction same as other elements, except spindle
Spindle – 4140 steel
Elevator Frame Components assembled withM12 bolts.
Post fabrication of mating surfaces to establishmating planes; possible to shim allowingframe to be assembled with high geometric precision, and not be able to shift out of alignment
Steel structures painted with Americote 741 over Dimecote primer
Top View
Payload Carrier Beam End Block
Bishop-Wisecarver Dual-VeeGuide wheel #3 size (4 per side)Max loads: (radial 5900NAxial 1590N) per wheel.
Bishop-WisecarverV-guide rail (inox)
Guide rail mount plate.Mount plate bolted toFrame sidewalls
Consultation with factory establishes that system can be setup for zero free play. Krytox 227 lubricant (radiation hard).
These guides are highly resistantto jamb from foreign matter
Load Calculations
All load calauclations and FEA loads are based on the worst caseof the more massive full Copper Bar Absorber assembly
Models generated for FEA incorporate intermittent gaps to reflect the skip welded pattern of fabrication
Welded joint
No Weld
FEA of Carrier Beam
http://www.physics.uiowa.edu/~pdebbins/ZDC_TOOL/Carrier_Beam_FEA.pdf.pdf
Payload – Carrier Beam Mating Structures
Carrier Beam
“HAD” Payload
Upper Mate
Lower Mate
Chamfer acommodates+/- 10mm misalignmentin all directions
15mm bores
When mated – pinLocks sections together
Auxiliary holes allowFixation of payload toEmergency removaltool
EM section is double pinned to Prevent “rocking” in Z axis
Pivot Roller Bearings
SKF JL 26749 F/710
Bering thrust flange
Flange applies preLoad to bearing – Secured with Castellated nut, Which is wired to Prevent loosening
Payload Displacement
Free Play of pre-loadedRoller bearings and Bishop Wisecarver guideWheels is negligible at theLoads presented.
Distortion of Carrier BeamAlso disregarded (0.2mm)