1、Designation: C1725 10Standard Guide forHot Cell Specialized Support Equipment and Tools1This standard is issued under the fixed designation C1725; the number immediately following the designation indicates the year oforiginal adoption or, in the case of revision, the year of last revision. A number
2、in parentheses indicates the year of last reapproval. Asuperscript epsilon () indicates an editorial change since the last revision or reapproval.1. Scope1.1 Intent:1.1.1 This guide presents practices and guidelines for thedesign and implementation of equipment and tools to assistassembly, disassemb
3、ly, alignment, fastening, maintenance, orgeneral handling of equipment in a hot cell. Operating in aremote hot cell environment significantly increases the diffi-culty and time required to perform a task compared tocompleting a similar task directly by hand. Successful special-ized support equipment
4、 and tools minimize the required effort,reduce risks, and increase operating efficiencies.1.2 Applicability:1.2.1 This guide may apply to the design of specializedsupport equipment and tools anywhere it is remotely operated,maintained, and viewed through shielding windows or by otherremote viewing s
5、ystems.1.2.2 Consideration should be given to the need for special-ized support equipment and tools early in the design process.1.2.3 The values stated in inch-pound units are to beregarded as standard. The values given in parentheses aremathematical conversions to SI units that are provided forinfo
6、rmation only and are not considered standard.1.3 Caveats:1.3.1 This guide is generic in nature and addresses a widerange of remote working configurations. Other acceptable andproven international configurations exist and provide optionsfor engineer and designer consideration. Specific designs arenot
7、 a substitute for applied engineering skills, proven practices,or experience gained in any specific situation.1.3.2 This guide does not supersede federal or state regula-tions, or both, or codes applicable to equipment under anyconditions.1.3.3 This guide does not purport to address all of the safet
8、yconcerns, if any, associated with its use. It is the responsibilityof the user of this standard to establish appropriate safety andhealth practices and determine the applicability of regulatorylimitations prior to use.2. Referenced Documents2.1 ASTM Standards:2A193/A193M Specification for Alloy-Ste
9、el and StainlessSteel Bolting for High Temperature or High PressureService and Other Special Purpose ApplicationsA354 Specification for Quenched and TemperedAlloy SteelBolts, Studs, and Other Externally Threaded FastenersA453/A453M Specification for High-Temperature Bolting,with Expansion Coefficien
10、ts Comparable to AusteniticStainless SteelsA962/A962M Specification for Common Requirements forBolting Intended for Use at Any Temperature from Cryo-genic to the Creep RangeC1217 Guide for Design of Equipment for ProcessingNuclear and Radioactive MaterialsC1533 Guide for General Design Consideration
11、s for HotCell EquipmentC1554 Guide for Materials Handling Equipment for HotCellsC1615 Guide for Mechanical Drive Systems for RemoteOperation in Hot Cell FacilitiesC1661 Guide for Viewing Systems for Remotely OperatedFacilitiesSI10-02 IEEE/ASTM SI 10 American National Standardfor Use of the Internati
12、onal System of Units (SI): TheModern Metric System2.2 Federal Regulations:310 CFR 830.120 Subpart A, Nuclear Safety Management,Quality Assurance Requirements1This guide is under the jurisdiction of ASTM Committee C26 on Nuclear FuelCycle and is the direct responsibility of Subcommittee C26.14 on Rem
13、ote Systems.Current edition approved June 15, 2010. Published August 2010. DOI: 10.1520/C172510.2For referenced ASTM standards, visit the ASTM website, www.astm.org, orcontact ASTM Customer Service at serviceastm.org. For Annual Book of ASTMStandards volume information, refer to the standards Docume
14、nt Summary page onthe ASTM website.3Available from U.S. Government Printing Office Superintendent of Documents,732 N. Capitol St., NW, Mail Stop: SDE, Washington, DC 20401, http:/www.access.gpo.gov.1Copyright ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959, U
15、nited States.2.3 Other Standards:4ANSI/ASME NQA-1 Quality Assurance Requirements forNuclear Facility ApplicationsANSI/ISO/ASQ 9001 Quality Management Standard Re-quirements3. Terminology3.1 The terminology employed in this guide conforms toindustry practice insofar as practicable.3.2 Definitions of
16、Terms Specific to This Guide:3.2.1 acorn-head (cone-head) fastenera bolt or screwwith a rounded spherical head tapering into a standard hex headresembling the shape of the bottom portion of an acorn (orcone), the purpose of which is used to guide and align a toolonto the bolt head.3.2.2 alignment (g
17、uide) pina pin used to align two matingcomponents by mating a pin mounted in one component witha precisely sized and positioned hole in the mating part.Multiple pins are typically required for proper alignmentdepending on the configuration and orientation of the matingsurfaces.3.2.3 captive fastener
18、a bolt or screw physically retainedon a component that remains attached when mating parts areseparated. Using captive fasteners eliminates the risk of drop-ping the fastener and helps to maintain the fastener in a readyto use position. It can also apply to nuts when matingcomponents are too thin for
19、 threading.3.2.4 hot cellan isolated shielded room that provides acontrolled environment for containing highly radioactive andtypically contaminated material and equipment. The radiationlevels within a hot cell are typically 100 rad/h (1 Gy/h) orhigher.3.2.5 lifting baillifting handle, hook, or cabl
20、e generallyattached over the center of gravity of the equipment to aidremote handling.3.2.6 mockupa facility used to represent the physicalenvironment of a radiological facility in a non-radiologicalsetting. Mockups are full scale facilities used to assure properclearances, accessibility, maintainab
21、ility, visibility, or operabil-ity of items to be subsequently installed in a radiologicalenvironment.3.2.7 master-slave manipulator (MSM)a device to re-motely handle items, tools, or radioactive material in a hot cell.The in-cell or slave portion of the manipulator replicates theactions of an opera
22、tor outside the cell by means of a mechani-cal connection between the two, usually with metal tapes orcables. Typically, MSMs have lifting capacities of 20 to 50 lbs(9 to 23 kg).3.2.8 power manipulatormanipulator controlled by anoperator outside of the hot cell with the in-cell slave-armpowered by e
23、lectric, pneumatic, or hydraulic actuators.4. Significance and Use4.1 This guide is relevant to the design of specializedsupport equipment and tools that are remotely operated,maintained, or viewed through shielding windows, or combi-nations thereof, or by other remote viewing systems.4.2 Hot cells
24、contain substances and processes that may beextremely hazardous to personnel or the external environment,or both. Process safety and reliability are improved withsuccessful design, installation, and operation of specializedmechanical and support equipment.4.3 Use of this guide in the design of speci
25、alized mechanicaland support equipment can reduce costs, improve productivity,reduce failed hardware replacement time, and provide a stan-dardized design approach.5. Design Requirements5.1 The complexity, performance, reliability, and life ex-pectancy of support equipment will be determined by thefa
26、cility purpose, configuration, and radiation levels. A produc-tion facility may require robust designs intended to be exten-sively used for the life of the facility. In contrast, equipment fora research or analytical facility may be intended only forlimited short-term experiments.5.2 Present and fut
27、ure radiation levels, chemical exposures,and other severe environmental conditions should be wellunderstood for their impact on material performance, lifeexpectancy, and disposal.5.3 Limitations of the facility handling equipment should beidentified and possible constraints imposed on support equip-
28、ment and tools understood. Applicable inputs include liftcapacities, range of motion, force limits, and areas of coverage.A specific example is to use the repeatable minimum incre-mental movement of the handling equipment to size featuresfor easy alignment with appropriate tool.5.4 Operator interfac
29、es with handling equipment shouldalso be identified to understand how the operator verifiessuccessful task completion or recognizes when a problemoccurs. Refer to Guides C1217, C1533, C1554, C1615, andC1661 for additional descriptions of hot cell equipment designrequirements.6. Quality Assurance, Qu
30、alification and Acceptance6.1 Facility owners and program managers should establisha quality assurance program to assure proper equipmentoperation and reliability consistent with that required forfacility operations as outlined by law or the agency ofjurisdiction. Quality assurance programs may be r
31、equired tocomply with 10 CFR 830.120, ANSI/ASME NQA-1,orANSI/ISO/ASQ 9001.6.2 Quality assurance specifications should be established toensure all procurement and fabrication meets the designspecifications. The level of complexity and risk consequencesshould be used to determine the level of required
32、 certificationdocumentation and the degree of inspection.6.3 Components should be tested in a simulated operatingenvironment (mockup) before in-cell installation or use toverify remote operability, maintainability, and to reduce therisk of unexpected problems. The level of complexity and riskconsequ
33、ences should be used to determine the degree ofsimulation required to test designs before remote implementa-tion.4Available from American National Standards Institute (ANSI), 25 W. 43rd St.,4th Floor, New York, NY 10036, http:/www.ansi.org.C1725 1026.4 Equipment to be used in nuclear or other regula
34、torycontrolled facilities may be required to meet specific qualifi-cation requirements and documentation by the regulatoryagency prior to installation or use.7. Remote Handling Features7.1 Manipulator Finger GuidesGuides for the fingers onthe in-cell portion of the manipulators provide positive grip
35、swhen handling items and prevent unnecessary damage anddelays resulting from dropped items. Fig. 1 is an example offinger grips fabricated from sheet metal and attached to a tool.Fig. 2 shows an example of flats machined into a round shaftto match the manipulator fingers.7.2 Positive Latch Indicator
36、sLatch indicators identifywhen a component is properly positioned or when a grapple isproperly engaged. Fig. 3 is an example of a positive latchindicator for a threaded grapple that must engage matingthreads in a non-visible location. As the grapple is threadedinto position, the push rod contacts th
37、e bottom surface of themating hole and slides a sleeve over a color-coded band. Fullengagement is indicated when the color band is no longervisible.7.3 LanyardsA lanyard may be used to secure loose partsat risk of being dropped. Lanyards may also be attached toconnectors or pins to aid in releasing
38、latching mechanisms thatare difficult to operate when using manipulators. Lanyards aretypically thin wire ropes that are attached to the part and to amore rigid or fixed equipment item. Fig. 4 shows an exampleof a removable pin being secured using a lanyard.7.4 Lifting Features:7.4.1 HooksCrane hook
39、s used in hot cells typically haveno motorized rotational capability. To compensate for thislimitation, hooks can be modified or an additional specialpurpose hook can be used below the regular hook. Fig. 5 is anexample of a modified hook with an extended nose that guidesthe hook onto lifting feature
40、s. Fig. 6 is an example of adetachable treble hook requiring minimal rotation for align-ment. The treble hook is also inherently self-standing whenremoved from the regular crane hook and stored. The cranehooks illustrated do not have load locking mechanisms. Lock-ing mechanisms that lock the load in
41、to the hook require specialconsideration. As a result, hooks without locks are commonand often designed with deeper throats to help secure loadsduring handling. When used, locks should be designed soactuator failures leave the lock in the open position. A lock inthe open position should not hinder n
42、ormal crane hookoperation. Manual actuation of a lock limits its use to locationswhere the locking mechanisms can be reached with a manipu-lator.7.4.2 Swivel Hoist RingsSwivel hoist rings have beenused extensively in hot cells for lifting equipment because oftheir multidirectional loading capability
43、. They swivel 360 tocompensate for pitch, roll and sway when lifting unbalancedloads. Fig. 7 is an illustration of a typical swivel hoist ringusing a convenient deep-socket head screw for ease of instal-lation.7.4.3 Lifting BailsLifting bails on equipment should beself-standing or have locking posit
44、ions maintaining clearancesfor easy engagement of hooks as shown in Fig. 8. Cable bailsshould be constructed from self-supporting stiff material andattached using a shoulder bolt with large diameter washer tosecure the loop at each end. Fig. 9 shows details for typicalcable bail attachment. Bails sh
45、ould be located over the centerof gravity to avoid uncontrollable motions when the liftedcomponent becomes unrestrained. Potential shifting of thecenter of gravity needs to be considered when multiplehandling configurations exist, such as handling a containereither empty or loaded.7.4.4 GrapplesA gr
46、apple is a lifting device that is typi-cally separate from the equipment to be lifted, and may bedesigned to lift several different equipment items. Usinggrapples is a way to standardize lifting schemes for multiplepieces of equipment and it may simplify lifting designs andimprove ease of handling.
47、Grapples generally have positiveFIG. 1 Sheet Metal GripsFIG. 2 Machined FlatsC1725 103locking mechanisms. The locking mechanisms should beoperable by manipulators and include latched and unlatchedindication. Fig. 10 is an example of a ball-detent quick-liftinggrapple designed to handle flat cover pl
48、ates and container lids.To use, the grapple is inserted a mating hole and locked byrotating a handle pushing locking balls outward into a largerdiameter recess. The mating hole in the load must be preciselymachined with proper clearance for expansion of the lockingballs and also provide a shoulder t
49、o restrain the balls when thegrapple lifts the load. The lifting capacity is limited by thematerial characteristics of the locking balls and hole shoulder.As shown, the hole in the load may be a single diameter whenFIG. 3 Positive Latch IndicatorFIG. 4 Lanyard Securing Removable PinC1725 104the mating plate is thin or a stepped hole when thicker. Fig. 11illustrates a grapple designed to handle round bails and isequipped with a sliding sleeve to lock the bail in the grip.7.5 Positioning and Clamping Features:7.5.1 Toggle ClampsToggle clamps come in a variety ofs
