ASTM C1725-10
(Guide)Standard Guide for Hot Cell Specialized Support Equipment and Tools
Standard Guide for Hot Cell Specialized Support Equipment and Tools
SIGNIFICANCE AND USE
This guide is relevant to the design of specialized support equipment and tools that are remotely operated, maintained, or viewed through shielding windows, or combinations thereof, or by other remote viewing systems.
Hot cells contain substances and processes that may be extremely hazardous to personnel or the external environment, or both. Process safety and reliability are improved with successful design, installation, and operation of specialized mechanical and support equipment.
Use of this guide in the design of specialized mechanical and support equipment can reduce costs, improve productivity, reduce failed hardware replacement time, and provide a standardized design approach.
SCOPE
1.1 Intent:
1.1.1 This guide presents practices and guidelines for the design and implementation of equipment and tools to assist assembly, disassembly, alignment, fastening, maintenance, or general handling of equipment in a hot cell. Operating in a remote hot cell environment significantly increases the difficulty and time required to perform a task compared to completing a similar task directly by hand. Successful specialized support equipment 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 specialized support equipment and tools anywhere it is remotely operated, maintained, and viewed through shielding windows or by other remote viewing systems.
1.2.2 Consideration should be given to the need for specialized support equipment and tools early in the design process.
1.2.3 The values stated in inch-pound units are to be regarded as standard. The values given in parentheses are mathematical conversions to SI units that are provided for information only and are not considered standard.
1.3 Caveats:
1.3.1 This guide is generic in nature and addresses a wide range of remote working configurations. Other acceptable and proven international configurations exist and provide options for engineer and designer consideration. Specific designs are not 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 regulations, or both, or codes applicable to equipment under any conditions.
1.3.3 This guide does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety and health practices and determine the applicability of regulatory limitations prior to use.
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NOTICE: This standard has either been superseded and replaced by a new version or withdrawn.
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Designation: C1725 − 10
Standard Guide for
Hot Cell Specialized Support Equipment and Tools
This standard is issued under the fixed designation C1725; the number immediately following the designation indicates the year of
original adoption or, in the case of revision, the year of last revision. A number in parentheses indicates the year of last reapproval. A
superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
1. Scope 2. Referenced Documents
1.1 Intent: 2.1 ASTM Standards:
A193/A193M Specification for Alloy-Steel and Stainless
1.1.1 This guide presents practices and guidelines for the
Steel Bolting for High Temperature or High Pressure
design and implementation of equipment and tools to assist
Service and Other Special Purpose Applications
assembly, disassembly, alignment, fastening, maintenance, or
A354 Specification for Quenched and TemperedAlloy Steel
general handling of equipment in a hot cell. Operating in a
Bolts, Studs, and Other Externally Threaded Fasteners
remote hot cell environment significantly increases the diffi-
A453/A453M Specification for High-Temperature Bolting,
culty and time required to perform a task compared to
with Expansion Coefficients Comparable to Austenitic
completing a similar task directly by hand. Successful special-
Stainless Steels
ized support equipment and tools minimize the required effort,
A962/A962M Specification for Common Requirements for
reduce risks, and increase operating efficiencies.
Bolting Intended for Use at Any Temperature from Cryo-
1.2 Applicability:
genic to the Creep Range
1.2.1 This guide may apply to the design of specialized
C1217 Guide for Design of Equipment for Processing
support equipment and tools anywhere it is remotely operated,
Nuclear and Radioactive Materials
maintained, and viewed through shielding windows or by other
C1533 Guide for General Design Considerations for Hot
remote viewing systems.
Cell Equipment
1.2.2 Consideration should be given to the need for special-
C1554 Guide for Materials Handling Equipment for Hot
ized support equipment and tools early in the design process.
Cells
1.2.3 The values stated in inch-pound units are to be
C1615 Guide for Mechanical Drive Systems for Remote
regarded as standard. The values given in parentheses are
Operation in Hot Cell Facilities
mathematical conversions to SI units that are provided for
C1661 Guide for Viewing Systems for Remotely Operated
information only and are not considered standard.
Facilities
SI10-02 IEEE/ASTM SI 10 American National Standard for
1.3 Caveats:
Use of the International System of Units (SI):The Modern
1.3.1 This guide is generic in nature and addresses a wide
Metric System
range of remote working configurations. Other acceptable and
proven international configurations exist and provide options
2.2 Federal Regulations:
for engineer and designer consideration. Specific designs are
10 CFR 830.120 Subpart A, Nuclear Safety Management,
not a substitute for applied engineering skills, proven practices,
Quality Assurance Requirements
or experience gained in any specific situation.
2.3 Other Standards:
1.3.2 This guide does not supersede federal or state
ANSI/ASME NQA-1 Quality Assurance Requirements for
regulations, or both, or codes applicable to equipment under
Nuclear Facility Applications
any conditions.
ANSI/ISO/ASQ 9001 Quality Management Standard Re-
1.3.3 This guide does not purport to address all of the safety
quirements
concerns, if any, associated with its use. It is the responsibility
of the user of this standard to establish appropriate safety and
health practices and determine the applicability of regulatory
For referenced ASTM standards, visit the ASTM website, www.astm.org, or
limitations prior to use.
contact ASTM Customer Service at service@astm.org. For Annual Book of ASTM
Standards volume information, refer to the standard’s Document Summary page on
the ASTM website.
AvailablefromU.S.GovernmentPrintingOfficeSuperintendentofDocuments,
This guide is under the jurisdiction ofASTM Committee C26 on Nuclear Fuel 732 N. Capitol St., NW, Mail Stop: SDE, Washington, DC 20401, http://
Cycle and is the direct responsibility of Subcommittee C26.14 on Remote Systems. www.access.gpo.gov.
Current edition approved June 15, 2010. Published August 2010. DOI: 10.1520/ Available from American National Standards Institute (ANSI), 25 W. 43rd St.,
C1725–10. 4th Floor, New York, NY 10036, http://www.ansi.org.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
C1725 − 10
3. Terminology 4.3 Useofthisguideinthedesignofspecializedmechanical
and support equipment can reduce costs, improve productivity,
3.1 The terminology employed in this guide conforms to
reduce failed hardware replacement time, and provide a stan-
industry practice insofar as practicable.
dardized design approach.
3.2 Definitions of Terms Specific to This Standard:
3.2.1 acorn-head (cone-head) fastener—a bolt or screw
5. Design Requirements
witharoundedsphericalheadtaperingintoastandardhexhead
5.1 The complexity, performance, reliability, and life expec-
resembling the shape of the bottom portion of an acorn (or
tancy of support equipment will be determined by the facility
cone), the purpose of which is used to guide and align a tool
purpose, configuration, and radiation levels. A production
onto the bolt head.
facility may require robust designs intended to be extensively
3.2.2 alignment (guide) pin—a pin used to align two mating
used for the life of the facility. In contrast, equipment for a
components by mating a pin mounted in one component with
research or analytical facility may be intended only for limited
a precisely sized and positioned hole in the mating part.
short-term experiments.
Multiple pins are typically required for proper alignment
depending on the configuration and orientation of the mating
5.2 Present and future radiation levels, chemical exposures,
surfaces. and other severe environmental conditions should be well
understood for their impact on material performance, life
3.2.3 captive fastener—a bolt or screw physically retained
expectancy, and disposal.
on a component that remains attached when mating parts are
separated. Using captive fasteners eliminates the risk of drop-
5.3 Limitations of the facility handling equipment should be
ping the fastener and helps to maintain the fastener in a ready
identified and possible constraints imposed on support equip-
to use position. It can also apply to nuts when mating
ment and tools understood. Applicable inputs include lift
components are too thin for threading.
capacities,rangeofmotion,forcelimits,andareasofcoverage.
3.2.4 hot cell—an isolated shielded room that provides a A specific example is to use the repeatable minimum incre-
mental movement of the handling equipment to size features
controlled environment for containing highly radioactive and
typically contaminated material and equipment. The radiation for easy alignment with appropriate tool.
levels within a hot cell are typically 100 rad/h (1 Gy/h) or
5.4 Operator interfaces with handling equipment should
higher.
also be identified to understand how the operator verifies
3.2.5 lifting bail—lifting handle, hook, or cable generally
successful task completion or recognizes when a problem
attached over the center of gravity of the equipment to aid
occurs.RefertoGuides,C1533,C1554,C1615,andC1661for
remote handling.
additional descriptions of hot cell equipment design require-
ments.
3.2.6 mockup—a facility used to represent the physical
environment of a radiological facility in a non-radiological
setting. Mockups are full scale facilities used to assure proper 6. Quality Assurance, Qualification and Acceptance
clearances, accessibility, maintainability, visibility, or operabil-
6.1 Facility owners and program managers should establish
ity of items to be subsequently installed in a radiological
a quality assurance program to assure proper equipment
environment.
operation and reliability consistent with that required for
3.2.7 master-slave manipulator (MSM)—a device to re-
facility operations as outlined by law or the agency of
motely handle items, tools, or radioactive material in a hot cell.
jurisdiction. Quality assurance programs may be required to
The in-cell or slave portion of the manipulator replicates the
comply with 10 CFR830.120, ANSI/ASME NQA-1, or ANSI/
actions of an operator outside the cell by means of a mechani-
ISO/ASQ 9001.
cal connection between the two, usually with metal tapes or
6.2 Qualityassurancespecificationsshouldbeestablishedto
cables. Typically, MSMs have lifting capacities of 20 to 50 lbs
ensure all procurement and fabrication meets the design
(9 to 23 kg).
specifications. The level of complexity and risk consequences
3.2.8 power manipulator—manipulator controlled by an
should be used to determine the level of required certification
operator outside of the hot cell with the in-cell slave-arm
documentation and the degree of inspection.
powered by electric, pneumatic, or hydraulic actuators.
6.3 Components should be tested in a simulated operating
4. Significance and Use
environment (mockup) before in-cell installation or use to
verify remote operability, maintainability, and to reduce the
4.1 This guide is relevant to the design of specialized
risk of unexpected problems. The level of complexity and risk
support equipment and tools that are remotely operated,
consequences should be used to determine the degree of
maintained, or viewed through shielding windows, or combi-
simulation required to test designs before remote implementa-
nations thereof, or by other remote viewing systems.
tion.
4.2 Hot cells contain substances and processes that may be
extremely hazardous to personnel or the external environment, 6.4 Equipment to be used in nuclear or other regulatory
or both. Process safety and reliability are improved with controlled facilities may be required to meet specific qualifi-
successful design, installation, and operation of specialized cation requirements and documentation by the regulatory
mechanical and support equipment. agency prior to installation or use.
C1725 − 10
7. Remote Handling Features
7.1 Manipulator Finger Guides—Guides for the fingers on
the in-cell portion of the manipulators provide positive grips
when handling items and prevent unnecessary damage and
delays resulting from dropped items. Fig. 1 is an example of
finger grips fabricated from sheet metal and attached to a tool.
Fig. 2 shows an example of flats machined into a round shaft
to match the manipulator fingers.
7.2 Positive Latch Indicators—Latch indicators identify
when a component is properly positioned or when a grapple is
properly engaged. Fig. 3 is an example of a positive latch
indicator for a threaded grapple that must engage mating
threads in a non-visible location. As the grapple is threaded
into position, the push rod contacts the bottom surface of the
mating hole and slides a sleeve over a color-coded band. Full
engagement is indicated when the color band is no longer
visible.
FIG. 2 Machined Flats
7.3 Lanyards—A lanyard may be used to secure loose parts
at risk of being dropped. Lanyards may also be attached to
connectors or pins to aid in releasing latching mechanisms that
consideration. As a result, hooks without locks are common
are difficult to operate when using manipulators. Lanyards are
and often designed with deeper throats to help secure loads
typically thin wire ropes that are attached to the part and to a
during handling. When used, locks should be designed so
more rigid or fixed equipment item. Fig. 4 shows an example
actuator failures leave the lock in the open position. A lock in
of a removable pin being secured using a lanyard.
the open position should not hinder normal crane hook
7.4 Lifting Features:
operation. Manual actuation of a lock limits its use to locations
7.4.1 Hooks—Crane hooks used in hot cells typically have
where the locking mechanisms can be reached with a manipu-
no motorized rotational capability. To compensate for this
lator.
limitation, hooks can be modified or an additional special
7.4.2 Swivel Hoist Rings—Swivel hoist rings have been
purpose hook can be used below the regular hook. Fig. 5 is an
used extensively in hot cells for lifting equipment because of
example of a modified hook with an extended nose that guides
their multidirectional loading capability. They swivel 360° to
the hook onto lifting features. Fig. 6 is an example of a
compensate for pitch, roll and sway when lifting unbalanced
detachable treble hook requiring minimal rotation for align-
loads. Fig. 7 is an illustration of a typical swivel hoist ring
ment. The treble hook is also inherently self-standing when
using a convenient deep-socket head screw for ease of instal-
removed from the regular crane hook and stored. The crane
lation.
hooks illustrated do not have load locking mechanisms. Lock-
7.4.3 Lifting Bails—Lifting bails on equipment should be
ing mechanisms that lock the load into the hook require special
self-standing or have locking positions maintaining clearances
for easy engagement of hooks as shown in Fig. 8. Cable bails
should be constructed from self-supporting stiff material and
attached using a shoulder bolt with large diameter washer to
secure the loop at each end. Fig. 9 shows details for typical
cable bail attachment. Bails should be located over the center
of gravity to avoid uncontrollable motions when the lifted
component becomes unrestrained. Potential shifting of the
center of gravity needs to be considered when multiple
handling configurations exist, such as handling a container
either empty or loaded.
7.4.4 Grapples—A grapple is a lifting device that is typi-
cally separate from the equipment to be lifted, and may be
designed to lift several different equipment items. Using
grapples is a way to standardize lifting schemes for multiple
pieces of equipment and it may simplify lifting designs and
improve ease of handling. Grapples generally have positive
locking mechanisms. The locking mechanisms should be
operable by manipulators and include latched and unlatched
indication. Fig. 10 is an example of a ball-detent quick-lifting
grapple designed to handle flat cover plates and container lids.
FIG. 1 Sheet Metal Grips To use, the grapple is inserted a mating hole and locked by
C1725 − 10
FIG. 3 Positive Latch Indicator
FIG. 4 Lanyard Securing Removable Pin
rotating a handle pushing locking balls outward into a larger illustrates a grapple designed to handle round bails and is
diameter recess. The mating hole in the load must be
...
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