gran sasso, 19/03/2003 opera project board meetingh. pessard / 1 brick manipulator system (bms)...
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Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 1
Brick Manipulator System (BMS) project
Evolutions and final design Brick sliding and protection skates Manipulator platform and portico
Choices validation Brick loading and extraction schemes tested OK
BMS construction schedule towards full system tests in Annecy before GS installation
Automation of the BMS Ongoing progress
Mechanics team: P. Mugnier, G. Gaillard, L. Giacobone, G. Ordureau, F. PeltierAutomation team: P. Aygalinc, R. Gallet, M. Faivre, I. Monteiro, HP.Database Management team: D. Duchesneau, T. Le Flour, S. Lieunard
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BMS situation in hall C
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Final scheme for sliding and protection skates
Calibrated distancechamfer OK
for tray folding radius
R 0.7max
10.5
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Final manipulator platform
(under construction)
120
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BMS portico study
Ordering of main beams ongoing
Construction and mounting May through October 03
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Principle of in-bridge pusher
Groove
Ball screw
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BMS operation
Jack + Pusher to move brick train in place
Vehicle to retrieve bricks
New movement added for translation
Central jack <-> Vehicle
Central jack
Vehicle
Pusher
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Validation & tests of options
Validation of the brick train pushing scheme central jack to form brick train and push it pusher in bridge to finish brick train move
Validation of the brick extracting scheme Vacuum sucker Vehicle (VV) VV cables puller to follow vehicle move
Both schemes tested using wall support prototype (Frascati-Napoli) and platform prototype (Annecy):
trains of 26 bricks insertion in wall OK bricks retrieval by V-Vehicle OK
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Prototype tests Naples-Frascati wall
VV cable
VV cable loop driving system
CCD Camera
Carrousel for local brick storage
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The VV and its sensors
sensors
Tests with the prototype wall
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Pusher and central jack validation(26 bricks)
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BMS construction schedule
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Schedule summary 2003
Fabrication of platforms Fabrication of “porticos” Preparation of BMS
installation in Annecy hall
2004 Tests of the BMS at
Annecy
2005 Installation in GS hall Brick loading in detector
July 2005
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Development of BMS automation
Collaboration with ESIA engineers school
brushless motors + associated regulators command and control by PLC system: Schneider +
Profibus and Ethernet couplers (integrated web server)
Study of platform positioning with a vision system: Siemens CCD-camera + Profibus linkPLC + supervision programming in progress:
software done for basic moves: Pusher, central jack, combined V-Vehicle and cable puller moves
sequences under development: brick train forming, brick retrieving from a given depth
supervision under study, including BMS Database
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BMS bridge positioningWall Tray
Inductive Switch Sensor
To Avoid collision with End Cap Target Tracker
Analogical Sensor
To check the height
positioning
Optical fiber Sensor
For the Longitudinal an transverse positioning
BMS bridge
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Brick transportation
Removable basket with 26x9 brick cases
Crane in Hall C Fork lift vehicle
possible use from BAM to BMS and from BMS to ‘brick processing station’
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