1、BS ISO17874-1:2010ICS 13.280NO COPYING WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAWBRITISH STANDARDRemote handlingdevices for radioactivematerialsPart 1: General requirementsThis British Standardwas published under theauthority of the StandardsPolicy and StrategyCommittee on 31 Januar
2、y2010 BSI 2010ISBN 978 0 580 68530 9Amendments/corrigenda issued since publicationDate CommentsBS ISO 17874-1:2010National forewordThis British Standard is the UK implementation of ISO 17874-1:2010.The UK participation in its preparation was entrusted to TechnicalCommittee NCE/2, Radiation protectio
3、n and measurement.A list of organizations represented on this committee can be obtained onrequest to its secretary.This publication does not purport to include all the necessary provisionsof a contract. Users are responsible for its correct application.Compliance with a British Standard cannot confe
4、r immunityfrom legal obligations.BS ISO 17874-1:2010Reference numberISO 17874-1:2010(E)ISO 2010INTERNATIONAL STANDARD ISO17874-1Second edition2010-01-15Remote handling devices for radioactive materials Part 1: General requirements Dispositifs de manipulation distance pour matriaux radioactifs Partie
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10、 reservedBS ISO 17874-1:2010ISO 17874-1:2010(E) ISO 2010 All rights reserved iiiContents Page Foreword iv Introduction.v 1 Scope1 2 Normative references2 3 Terms and definitions .2 4 Application of multipurpose remote handling devices .3 4.1 General .3 4.2 Mechanical master-slave manipulators 3 4.3
11、Electrical master-slave manipulators3 4.4 Power manipulators 4 4.5 Remote handling tongs.4 5 Kinematic systems for multipurpose remote handling devices.4 6 General requirements concerning the different categories of multipurpose remote handling devices .5 6.1 Mechanical master-slave manipulators 5 6
12、.2 Electrical master-slave manipulators8 6.3 Power manipulators 10 6.4 Remote handling tongs.11 7 Principal criteria for the selection of multipurpose remote handling devices16 7.1 General .16 7.2 Load capacities of remote handling devices17 7.3 Dexterity of remote handling devices .18 7.4 Reliabili
13、ty of remote handling devices19 8 Other criteria 19 8.1 General .19 8.2 Working zone .20 8.3 Peripheral and auxiliary provisions.20 9 Design summary21 Annex A (normative) Kinematic systems for remote handling devices22 Bibliography26 BS ISO 17874-1:2010ISO 17874-1:2010(E) iv ISO 2010 All rights rese
14、rvedForeword ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work of preparing International Standards is normally carried out through ISO technical committees. Each member body interested in a subject for which
15、 a technical committee has been established has the right to be represented on that committee. International organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with the International Electrotechnical Commission (IEC) on all mat
16、ters of electrotechnical standardization. International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2. The main task of technical committees is to prepare International Standards. Draft International Standards adopted by the technical committees are circu
17、lated to the member bodies for voting. Publication as an International Standard requires approval by at least 75 % of the member bodies casting a vote. Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. ISO shall not be held responsi
18、ble for identifying any or all such patent rights. ISO 17874-1 was prepared by Technical Committee ISO/TC 85, Nuclear energy, Subcommittee SC 2, Radiation protection. This second edition cancels and replaces the first edition (ISO 17874-1:2004), which has been technically revised. ISO 17874 consists
19、 of the following parts, under the general title Remote handling devices for radioactive materials: Part 1: General requirements Part 2: Mechanical master-slave manipulators Part 3: Electrical master-slave manipulators Part 4: Power manipulators Part 5: Remote handling tongs BS ISO 17874-1:2010ISO 1
20、7874-1:2010(E) ISO 2010 All rights reserved vIntroduction This part of ISO 17874 deals mainly with multipurpose remote handling devices for nuclear applications. These devices replace hands and arms in areas inaccessible to personnel (mostly behind shielding walls). There are special remote handling
21、 devices designed for narrow fields of application or for special purposes only, but these are beyond the scope of this part of ISO 17874. Multipurpose remote handling devices have five to ten, or even more, possibilities of movement in order to cope with the planned range of tasks. Four categories
22、of such remote handling devices are used worldwide for the handling of radioactive materials. These categories are the following: mechanical master-slave manipulators; electrical master-slave manipulators; power manipulators; remote handling tongs. Various special designs, hydraulic or pneumatic mac
23、hines, prototypes, experimental devices and obsolete types cannot be assigned to any category or do not correspond to all requirements of this part of ISO 17874. These devices are not covered by this part of ISO 17874. The main applications of the different categories are explained in Clause 4. Remo
24、te handling devices were originally developed for hot cells designed for research and development in nuclear power reactor fuel elements. They are now also in widespread use in other nuclear installations, such as plants for fabrication or reprocessing of fuel elements, waste treatment stations and
25、decommissioning of nuclear facilities. Remote handling devices are sometimes used for non-nuclear applications. This part of ISO 17874 does not address the special requirements of any of these fields, although designers can take advantage of standardized components from the nuclear sector to achieve
26、 cost-effective designs for other purposes, where appropriate. BS ISO 17874-1:2010BS ISO 17874-1:2010INTERNATIONAL STANDARD ISO 17874-1:2010(E) ISO 2010 All rights reserved 1Remote handling devices for radioactive materials Part 1: General requirements 1 Scope This part of ISO 17874 describes requir
27、ements concerning devices for remote handling of radioactive materials. The classification of these devices (categories and different designs within a category) and the distribution in the different parts are shown in Figure 1. Figure 1 Categories of remote handling devices and location in all parts
28、 of ISO 17874 Concerning the working volume, two principal designs are to be considered. a) Fixed remote handling devices: these devices are fitted in the shielding wall or sometimes in the ceiling of hot cells and accordingly can function only in a rather limited volume. Such devices are mechanical
29、 master-slave manipulators and remote handling tongs. BS ISO 17874-1:2010ISO 17874-1:2010(E) 2 ISO 2010 All rights reservedb) Mobile remote handling devices: these devices are fitted on a transporter (e.g. a moveable bridge or a vehicle on the ground). The working volume depends mainly on the possib
30、le motion of the transporter. Such devices are electrical master-slave manipulators and power manipulators. NOTE This part of ISO 17874 is intended to provide assistance to designers of nuclear process plants, as well as manufacturers, users and licensing authorities. 2 Normative references The foll
31、owing referenced documents are indispensable for the application of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies. ISO 7212, Enclosures for protection against ionizing radi
32、ation Lead shielding units for 50 mm and 100 mm thick walls ISO 9404-1, Enclosures for protection against ionizing radiation Lead shielding units for 150 mm, 200 mm and 250 mm thick walls Part 1: Chevron units of 150 mm and 200 mm thickness ISO 11933-1, Components for containment enclosures Part 1:
33、Glove/bag ports, bungs for glove/bag ports, enclosure rings and interchangeable units ISO 11933-2, Components for containment enclosures Part 2: Gloves, welded bags, gaiters for remote-handling tongs and for manipulators ISO 17874-2, Remote-handling devices for radioactive materials Part 2: Mechanic
34、al master-slave manipulators ISO 17874-3, Remote handling devices for radioactive materials Part 3: Electrical master-slave manipulators ISO 17874-4, Remote handling devices for radioactive materials Part 4: Power manipulators ISO 17874-5, Remote handling devices for radioactive materials Part 5: Re
35、mote handling tongs 3 Terms and definitions For the purposes of this document, the following terms and definitions apply. 3.1 mechanical master-slave manipulator manipulator reproducing the movements of the hand and arm of the operator by means of isokinematic master and slave arms with back-drivabl
36、e mechanical transmissions NOTE The manipulator is generally mounted on a shielding wall. 3.2 electrical master-slave manipulator manipulator reproducing the movements of the hand and arm of the operator by means of isokinematic master and slave arms with bilateral electrical position control (force
37、 reflection) NOTE 1 The word “bilateral” refers to the property of the system to be indifferently moved by acting on the master arm or on the slave arm. NOTE 2 The slave arm is generally mounted on a transporter (mobile). BS ISO 17874-1:2010ISO 17874-1:2010(E) ISO 2010 All rights reserved 33.3 power
38、 manipulator manipulator driven by switch-operated motors 3.4 remote handling tongs mechanical device consisting of a gripper, a handle and a rod between them NOTE Remote handling tongs are either installed in a shielding wall by using a mounting device or hung on a carrying system for use in a wate
39、r pool or carried by an operator. 3.5 isokinematic property of a manipulator, where from base to free end, master arm and slave arm, presents the same type of motion (rotation or translation) in the same order and with the same relative orientations 4 Application of multipurpose remote handling devi
40、ces 4.1 General The different categories of remote handling devices are used for various applications, as described in this clause. 4.2 Mechanical master-slave manipulators 4.2.1 Mechanical master-slave manipulators with telescopic arms These manipulators allow the transmission of forces up to the m
41、aximum magnitude required for the tasks to be achieved manually by an unaided operator. Depending on the type of manipulator, maximum load capacities up to 45 kg can be reached (see 7.2). They are suitable for complicated tasks and are usually installed in pairs on a working station. They are design
42、ed for hot cells of all sizes with shielding walls of concrete or also of lead in some cases. They constitute the main working devices in such kinds of cells. Different lengths of arms are available according to the size of the hot cell to be equipped. However, versions with short arms provide highe
43、r forces and, reversely, versions with long arms reduce the forces to be applied. There also exist compact manipulators with a double telescope in the slave arm, available for hot cells with restricted height. 4.2.2 Mechanical master-slave manipulators with articulated arms These manipulators allow
44、not only the execution of forces equivalent to those an unaided operator can achieve, but also forces up to a much higher level. Depending on the type of manipulator, maximum load capacities up to 100 kg can be reached (see 7.2). They are suitable for complicated tasks, and are usually installed in
45、pairs on a working station. They are designed for hot cells of all sizes with shielding walls typically of lead or also of cast iron in some cases. They are also used in containment enclosures. They have small dimensions and therefore provide a relatively small working volume. They are used instead
46、of remote handling tongs as described in 4.5, if a larger working volume and/or more dexterity are needed. 4.3 Electrical master-slave manipulators These manipulators allow not only the execution of forces equivalent to those an unaided operator can achieve, but also (depending on the type) forces u
47、p to a much higher level. They are suitable for complicated tasks, and often they are installed in pairs. They allow the performance of complicated work throughout the whole volume of large hot cells and not only near the operation walls, by means of the mobility of the slave arm. As a result of the
48、ir load capacities they can be used also in place of light and medium load capacity power manipulators. They can be used, not only inside facilities, but also on vehicles (also in the open air). BS ISO 17874-1:2010ISO 17874-1:2010(E) 4 ISO 2010 All rights reserved4.4 Power manipulators These manipul
49、ators allow the execution of high forces and therefore the handling of heavy objects, typifying their application. According to the load capacity of their hoist, they can also be used like a crane of light load capacity. They are not suitable for complicated tasks. They are used in medium-sized or large hot cells. Normally, they have large dimensions and are used to assist mechanical master-slave manipulators. They are used for tasks to be performed in areas that cannot be reached by mechanical master-sl
