DE LA RECHERCHE LINDUSTRIE CEA IRFU Flanges Cleaning

DE LA RECHERCHE À L’INDUSTRIE CEA IRFU – Flanges Cleaning Robot 2020/10/20 Stéphane Berry / Laurent Dodon / Christophe Servouin Development of a cavity flanges cleaning solution with an industrial robot Commissariat à l’énergie atomique et aux énergies alternatives - www. cea. fr Commissariat à l’énergie atomique et aux énergies alternatives Stéphane BERRY 24 mai 2021

Context / Project framework Context CEA/IRFU assembles particle accelerator in ISO 4 cleanroom (XFEL, ESS, . . ) Ultimate cleaning of flanges is performed by ionized nitrogen gun CEA Tech already showed with a prototype robot copying manual process that the cleaning is feasible Problem The task is repetitive, painful and time consuming Human/cobot collaboration is valuable for quality and reproducibility New ionizing tool is proposed and usual particulates counter Goal and specifications Select a moveable collaborative robot (cobot) Compatible with ISO 4 cleanroom Design of new ionizing tool Define a machine architecture (overall cleaning, hole cleaning, count particulates, …) § Take away : technical specifications for an industrial solution Usage scenarios: Demonstration for ESS on Coupler (horizontal flange) and String (2 flanges one with valve) workstations Keys of the project § Cobot Benchmark § Proposal of new cleaning end effector (tool at the arm end) § Proposal of a machine architecture Commissariat à l’énergie atomique et aux énergies alternatives Stéphane BERRY 24 mai 2021 2

Framework of the project The project consists in providing a cleaning solution for cavity flanges in cleanroom ISO 4 for workstations COUPLER and STRING COUPLER WORKSTATION STRING WORKSTATION Commissariat à l’énergie atomique et aux énergies alternatives Stéphane BERRY 24 mai 2021 3

Step 1 : 3 D-simulation and robot’s choice Simulation study for ESS cavities showed we need of 1. 6 m Max reach. Choice has been made among the 3 robot available at CEA-TECH. As the cobot ‘ll be manipulated by operator thus “transparence” (ease and low friction) is mandatory : practical test allow us to select Cobots Comparison between : atteignabilité 1. 2 Cost - SYB 3 brand isybot prix - M 0617 brand Doosan poids 0. 4 0. 2 mobibité Mobility Choice criteria’s were : - Max reach - Weight - “ transparence” - Cost - Mobility Practical test conclusion : Doosan M 0617. Commissariat à l’énergie atomique et aux énergies alternatives 0. 8 0. 6 - (https: //www. doosanrobotics. com/en/Index) - (https: //www. universal-robots. com/fr/) Weight 1 - (https: //www. isybot. com/) - UR 10 e brand Universal Robot Max Reach 0 transparance « Transp arence » DOF payload repetabilité Payload Ur 10 e Repeata bility Stéphane BERRY DOF M 0617 SYB 3 4 24 mai 2021

Step 2 : Virtual reality and cleaning process The detailed cleaning process is described in a flow chart (Irfu) Simulation of the process in Virtual Reality (the goal was to check the usability of the new semi automatic tool in cleanroom environment. Operators have been trained on sequences COUPLER WORKSTATION STRING WORKSTATION Commissariat à l’énergie atomique et aux énergies alternatives Stéphane BERRY 24 mai 2021 5

Step 3 : realization of the demonstrator The demonstrator realization is based on: § The arm is equipped with an end effector specially developed for this cleaning application. § Building of a software on this selected robot DOOSAN M 0617. § Development of a master application to control the robot with a finite state machine The operation sequence depends on the workstation (string as an example) : § Operator : precleaning with alcohol § Operator give the reference of flanges to the cobot § Operator changes tool (CMM-like to ionizer/counter) § Cobot : overall cleaning § Cobot : gasket groove cleaning § Cobot : hole cleaning § Cobot : particle check of each hole (loop if needed) Commissariat à l’énergie atomique et aux énergies alternatives Stéphane BERRY 24 mai 2021 6

RESULTS 1. DOOSAN Robot compatible with ISO 4 cleanroom: particles counting of elbow joints, jacket and casings 2. Cleaning efficiency: 3. The industrial operators (building ESS modules) have been trained to use robot and its learning sequence 4. Both workstations sequence fully played « coupler » and “string” 5. The master application is programmable and versatile Launch the video separately please during robot cleaning (3/3 ok) and after robot cleaning (4 operators checked , 3 considered the cleaning satisfying) Commissariat à l’énergie atomique et aux énergies alternatives Stéphane BERRY 24 mai 2021 7

Possible Collaborations Irfu – KEK - Fermi. Lab with KEK, in ILC framework, R&D plan (KEK/ CEA-Saclay) JFY 2021: (CEA) Cobot tests for cleaning flanges of one cavity (done, need implementation on production line) (CEA) Evaluation of cobot for flange assembly JFY 2022: (CEA) Order Cobot and development of the flanges assembly by robot JFY 2023: (CEA) Operation confirmation by robotization of equipment with Fermi (framework to be defined) Proposal: Develop a vision system to perform computer assistance to assembly Commissariat à l’énergie atomique et aux énergies alternatives Stéphane BERRY 24 mai 2021 8

Outlook 1. Buy robot for ESS project (actually TRL 7, goal TRL 9) 2. Transfer to other projects (SARAF, PIP-II) 3. Perspective : develop a solution with vision § Solved the small offset issue § Suppress the CMM-like phase § Anticipate the next phase : assembly assistance 4. Collaboration with KEK (Japon) for ILC R&D (cleaning and assembling) 3 years § Introduce some already existing technological keys in robotics (CEA DRT) use of virtual guides coupled with a numerical 3 D model Commissariat à l’énergie atomique et aux énergies alternatives Stéphane BERRY 24 mai 2021 9

Outlook 1. Buy robot for ESS project (actually TRL 7, goal TRL 9) 2. Transfer to other projects (SARAF, PIP-II) 3. Perspective : develop a solution with vision § Solved the small offset issue § Suppress the CMM-like phase § Anticipate the next phase : assembly assistance 4. Collaboration with KEK (Japon) for ILC R&D (cleaning and assembling) 3 years § Introduce some already existing technological keys in robotics (CEA DRT) use of virtual guides coupled with a numerical 3 D model Thank for your attention Commissariat à l’énergie atomique et aux énergies alternatives Stéphane BERRY 24 mai 2021 10

BACK-UP slide Commissariat à l’énergie atomique et aux énergies alternatives Stéphane BERRY 24 mai 2021 11

BACK-UP slide Commissariat à l’énergie atomique et aux énergies alternatives Stéphane BERRY 24 mai 2021 12