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

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 2

BMS situation in hall C

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 3

Final scheme for sliding and protection skates

Calibrated distancechamfer OK

for tray folding radius

R 0.7max

10.5

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 4

Final manipulator platform

(under construction)

120

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 5

BMS portico study

Ordering of main beams ongoing

Construction and mounting May through October 03

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 6

Principle of in-bridge pusher

Groove

Ball screw

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 7

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

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 8

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

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 9

Prototype tests Naples-Frascati wall

VV cable

VV cable loop driving system

CCD Camera

Carrousel for local brick storage

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 10

The VV and its sensors

sensors

Tests with the prototype wall

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 11

Pusher and central jack validation(26 bricks)

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 12

BMS construction schedule

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 13

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

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 14

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

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 15

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

Gran Sasso, 19/03/2003 OPERA Project Board meeting H. Pessard / 16

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’