telemanipulators - destaco

telemanipulators

destaco.comEnd Effectors Grippers Indexers

Manual Clamps Power Clamps Remote Handling

Proven Technology Customized for Your Specific Needs

RH-TEL-2 Dimensions and technical information are subject to change without notice

telemanipulatorsRemote Handling | About DESTACO

Brazil

Spain

Netherlands

UK

France

India

Thailand

China

Mt. Juliet, TN USA

Auburn Hills, MI USA

GermanyRed Wing, MN USA

Wheeling, IL USA

THE BEST PRODUCTS. UNMATCHED SERVICE. WORLDWIDE.

With a support network spanning the globe, DESTACO offers consistent, comprehensive service to any location in the world. Whether your operations are localized or span multiple continents, you will always have access to the highest levels of customer service and technical support.

Since its founding in 1915, DESTACO has focused on outstanding customer service. The company grew steadily over the next four decades and in 1958 started to expand internationally. In 1983, DESTACO opened its first overseas manufacturing facility in Thailand. With the acquisition of Robohand in 1996, DESTACO started to get involved in automation and since then has expanded by acquiring and integrating other well-known brands like Camco and Ferguson. In 2008, we strengthened our presence in life sciences when Central Research Laboratories (CRL) joined team DESTACO.

Today DESTACO is a world leader in the innovation, design, manufacture and support of clamping, gripping, transferring, indexing and robotic tooling solutions for workplace and automation needs.

Our growth is a direct result of our commitment to serve customers of all sizes on a local, one-to-one basis.

DESTACO provides productivity solutions to a diverse range of market segments

• Life sciences

• Bio containment

• Consumer products

• Food and packaging

• Automotive/transportation

• Aerospace

• Alternative energy

• Nuclear

• Defense

RH-TEL-3Dimensions and technical information are subject to change without notice

telemanipulatorsRemote Handling | Product Overview

CRL Telemanipulators

DESTACO Stainless Steel Manual Clamps

CRL Glove Ports Systemsand Rapid Transfer Ports

CRL Glove Port Systems and Rapid Transfer Ports

CRL Sterile Liquid Transfer Port

CRL Rapid Transfer Port

ROBOHANDPick and Place

DESTACO Vacuum Products DX Drive Actuators and Robohand Slides

CAMCO Direct Drive Index Table

CAMCO Med-Redi Index Conveyor

ROBOHAND Electric Grippers

Telemanipulators are typically used for remotely performing tasks in a high-radiation or isolated environment by extending the dexterous manipulative capabilities of a human operator.

Courtesy of DEMCO Automation

DESTACO provides automation and containment solutions to the radio-pharma and nuclear medicine industries.


telemanipulatorsRemote Handling | Dimensions and Technical Specifications

Introduction ....................................................................................................... 5

One-Piece Telemanipulator ................................................................................. 8

Three-Piece Telemanipulator ................................................................................ 9

Telemanipulator Radiation Shielding ................................................................... 10

Telemanipulator Accessories ............................................................................. 11


telemanipulatorsRemote Handling | Introduction

Industry PioneerCentral Research Laboratories (CRL) researches, designs and manufactures machines and systems which allow human operators to safely perform dexterous maneuvers in hazardous or sterile environments through remote operation. In 1945, at the dawn of the Atomic Age, three scientists at the Massachusetts Institute of Technology founded CRL and pioneered early development of safer methods for handling hazardous and toxic products produced by this industry.

Early mechanisms for handling materials in containment were awkward (usually overhead-mounted devices). Argonne National Laboratory commissioned CRL to develop a telemanipulator that could be mounted through the vertical face of the containment wall. Subsequent side wall development and customer requirements have led to 20 different models of telemanipulator with a wide range of capacities and configurations. As a result of years of experience, CRL has also developed a full line of related manipulator tools and accessories described in this catalog.

Basis of OperationCRL Telemanipulators extend the dexterous manipulative capabilities of a human operator into a hazardous environment. As in all telemanipulators, natural motions of the hands at the master end are reproduced identically at the slave end in a 1 to 1 ratio. These operations are accomplished with a minimum of effort and a maximum of precision due to careful counter-balancing and reduction of mass, friction and lost motion.

Additionally, very little force is required to initiate and maintain uniform motion in any horizontal or vertical direction. The above factors, combined with the bilateral drive and reflecting characteristics of the design provide a remarkable “sense of feel” and practically no training period is required to become a competent operator.


telemanipulatorsRemote Handling | Telemanipulator Specification Guidelines

Telemanipulators are used when the need to remotely perform tasks in a high radiation or hazardous environment arises. Typical tasks range from operation laboratory instruments to the maintenance of large process equipment, all operations requiring dexterous manipulations. These tasks are unstructured and require real-time dexterous human intervention.

CRL specializes in customizing our current telemanipulator products and developing new products to meet your specific needs. The specification process includes the following steps with a typical installation view shown on the following page:

1) Select Telemanipulator Type: What kind of atmosphere in cell? For inert atmosphere and/or positive pressure applications a three-piece telemanipulator design is typically required. For air and/or negative pressure applications a one-piece telemanipulator design is used.

2) Handling Capacity: For laboratory-type applications, a light duty, highly responsive telemanipulator is required. For process applications or maintenance of process equipment a standard or heavy duty-type telemanipulator should be used. The handling capacities are listed in the tables on pages 7 and 9.

3) Telemanipulator Size: The cell dimensions will determine the typical mounting height and extended arm length required to reach objects in the desired working area. This determines the basic size, but arm lengths can be customized to meet specific reach requirements.

4) Radiation Shielding: Shielding can be provided on all telemanipulators to minimize radiation exposure on the operator side of the cell. Thru-tube shielding designs are described on page 10.

5) Tong/Jaws: There are multiple options available for handling a variety of different types of loads. For heavy duty applications the SRL tong is available. For light duty applications the RCD tong is preferred. To move the heaviest loads a Load Hook can be utilized.

6) Handle Options: Three typical handle types are described on page 12. Handles are chosen based on a combination of operator preference and typical load capacity.

7) Indexing: Indexing is used to shift the tong/jaw position without moving the handle. Mechanical and electrical indexing methods are available and are described by model on pages 7 and 9.

8) Locks: Motion and tamper locks are available to lock the telemanipulator rigidly into any position. This facilitates installation/removal and allows the manipulator to hold an object in space without requiring an operator. Locks are described on page 13.

9) Booting: Booting is used to restrict air flow into a hot cell and also to protect the remote arm from contamination. Typical booting options are described on page 14.

10) Installation/Removal Carts: CRL carts to facilitate the installation and removal of telemanipulators. The system facilitates vertical and horizontal movement for proper alignment. Typical carts are shown on page 15.


telemanipulatorsRemote Handling | Telemanipulator Specification Guide

Removal Clearance

Ceiling HeightOperator Side

MinimumHeight

Master Overhang

MountingHeight

CollapsedLength

Z Motion

WorkingHeight

CollapsedLength

ExtendedLength

Slave Overhang

Wall Tube

Wall Thickness

Window

Cell Floor Operator's Floor

Cell Width

CellDepth

Separation

SlaveOverhang

Top Viewof Slave Arm Coverage

at Working Height

Hot Side

Cold Side

The image below shows the typical dimensions of the hot and cold side of the cell required to specify the physical size requirements for a telemanipulator. There is a telemanipulator application specification form available to fill out during the specification process. This form is available to download at the Telemanipulator section of our webpage.



One-Piece TelemanipulatorThe one-piece telemanipulator is the most widely used and consists of a command (master) arm, remote (slave) arm, and through-the-wall tube assembled as one unit. Stainless steel tapes and cables are used to transmit motions from the command to the remote arm in continuous closed loops. The single unit telemanipulator is installed and removed in the hot cell from the operator’s side.

The installation is accomplished by indexing the remote arm to a position in line with the wall tube, inserting the telemanipulator into the wall sleeve, then indexing the remote arm down to an operating position inside the hot cell. The single unit telemanipulator is typically used when the in-cell atmosphere is air instead of an inert gas. Typically the atmosphere in-cell is at a negative pressure for one-piece telemanipulators. An optional booting assembly can be added to restrict air flow into the hot cell and to protect the remote arm from contamination.

The one-piece designs are defined by two product series: Model G for small sizes and Models E/F for large sizes. The basic capabilities are shown in the two tables on page 7. Remote Arm

Thru-Tube

Command Arm

G Series: One-Piece Design, Un-sealed, Small Sizes

Model CapacityExtended Length

Standard Mount Opening Diameter

Mounting Height

Features

G-LDR

4.5 Kg [10 lb]

1.52 m [5 ft]

121 mm [4.76 in]

1.93 m[76 in]

Base Configuration

G-LD

191 mm[7.50]

2.13 m[84 in]

Manual Y Indexing

G Electrical X,Y Indexing

G-LDC

8.2 Kg[18 lb]

All Cable, G-LD

G-HD Electrical X,Y Indexing, All Cable

G-HDE 2.04 m[6 ft]

Electrical X, Y, Z Indexing, All Cable, Extended

E/F Series: One-Piece Design, Un-sealed, Large Sizes


Standard Mount Opening Diameter

Mounting Height

Features

E 9 Kg [20 lb]

3.35 m [11 ft]

254 mm [10 in]

3.05 m[120 in]

Electrical X,Y,Z IndexingE-HD 22.6 Kg [50 lb]

F 45.3 Kg [100 lb]



Three-Piece TelemanipulatorThe three-piece telemanipulator is typically used in an inert atmosphere cell, which requires careful environmental control. Typically the in-cell atmosphere is at a positive pressure for three-piece telemanipulator applications. The three-piece telemanipulator consists of three independent assemblies, the command (master) arm, the remote (slave) arm and the through-the-wall tube (seal tube).

The command arm is removable and interchangeable with any seal tube. The remote arm is remotely removable with an in-cell crane and is also interchangeable with any seal tube. The seal tube is maintenance free and usually remains in the wall. When using a three-piece telemanipulator, provisions should be made to remove the remote arm from the hot cell through an air lock or transfer port for maintenance. The three-piece telemanipulator may also be installed and removed from the operator side similar to the single unit telemanipulator.

R Series: Three-Piece Design, Sealed, Large Sizes


Mount Opening Diameter

Mounting Height

Features

RE-L 9 Kg [20 lb]

3.35 m [11 ft]

254 mm [10 in]

3.05 m[120 in]

Standard Duty, Electrical X,Y,Z Indexing

R22.6 Kg [50 lb]

Heavy Duty, Electrical X,Y Indexing

RE Heavy Duty, Electrical X,Y,Z Indexing


Mount Opening Diameter

Mounting Height

Features

L 4.5 Kg [10 lb] 1.52 m

[5 ft]

191 mm [7.5 in]

2.44 m[96 in]

Light Duty, Electrical X,Y Indexing

L-HD8.2 Kg [18 lb]

254 mm [10 in]

Standard Duty, Electrical X,Y Indexing

L-HDE 2.04 m [6 ft]

Standard Duty, Electrical X,Y,Z indexing

Removable Remote Arm

Seal Tube (Mount in Cell Wall)

Removable Command Arm

The seal tube provides leak tightness of the in-cell atmosphere during normal operation and when the command and remote arms are removed for maintenance

L Series: Three-Piece Design, Sealed, Small Sizes


telemanipulatorsRemote Handling | Telemanipulator Radiation Shielding

Shielding can be provided for all CRL manipulators to prevent large amounts of radiation from penetrating to the operator side of the cell. The shielding is mounted in and/or around the telemanipulator thru-tube and is normally located so it is centered in the cell wall. A variety of shielding materials are available with lead, poly and steel typically used. The internal thru-tube shielding and external thru-tube to wall tube shielding configurations can be provided as shown below:

Thru-Tube Shielding Standard Design:• Straight tie rods pass thru aligned slots in internal shielding pieces.

Thru-Tube Shielding Labyrinth Design:• Staggered tie rods pass thru staggered slots in internal shielding, minimizing potential shine path.

Thru-TubeRoller Trucks

Wall Tube

Thru-Tube to Wall Shield(Tight on thru-tube)

Labyrinth Laminated Thru-Tube Shield

Thru-Tube to Wall Shield(Expands out to wall tube)

Wall Tube

Thru-Tube

External Shielding

Laminated Thru-Tube Shielding

Roller Trucks


telemanipulatorsRemote Handling | Accessories

Tong Jaw OptionsA variety of tong-jaw options are available to handle the type of load that is required to be manipulated. The SRL type is suited for heavy duty applications, while the RCD type is better for light duty applications. Various jaws are available for both types to handle various shapes and types of loads. A load hook is available to move the heaviest of loads without damaging the wrist joint and tapes/cables.

SRL Type(Heavy Duty - Interchangeable Jaws)

Load HooksThe Load Hook accessory is a remotely removable device that hangs from the end of the telemanipulator remote arm. Its hook is used to pick up objects that are normally too heavy or awkward to handle in the tongs.

RCD Type(Light Duty - Interchangeable Tong)

Change Fixture

Load Hook



Handle Options

CRL can provide a variety of handles chosen for operation comfort and efficiency. All handles shown can be oper-ated with either hand and are not interchangeable on the telemanipulator without major disassembly.

Pistol Grip Handle(Typically Used for Heavy Handling)

Motion Grip Handle(Typically Used for Heavy Handling)

Opposed Grip Handle(Typically Used for Light Handling)

Motion Locks

Motion locks for CRL telemanipulators are used to lock the telemanipulator rigidly in any position within the dimensional limits of the telemanipulator. This allows the telemanipulator to hold an object in space without requiring an operator, and facilitates the installation and removal of the telemanipulator.

In general, motion locks come in three distinct units:

• X Motion• Y Motion • Z Motion, Azimuth and Elevation/Twist Rotations

The three units can be operated independently, or together (manually or pneumatically actuated.)

The tong/grip lock is a part of all standard telemanipulator handle assemblies.

Tamper Lock

Tamper locks can be used to lock the telemanipulator handle to the cell wall and prevent damage to the telemanipulator or in-cell equipment by unauthorized operators.



Telemanipulator BootingA booting assembly is typically used to restrict air flow into the hot cell and to protect the remote arm from contamination. Booting can be provided as polyurethane, CSM coated polyurethane or PVC sleeve material.

• For one-piece models, the tong assembly or jaws can be disconnected and entire telemanipulator removed with booting still in place and no loss of containment.

• For three-piece models, the entire remote arm can be disconnected from seal tube with booting still in place.

Telemanipulator CartsThe CRL Installation/Removal Cart is a multipurpose system which can be used for the installation and removal of telemanipulators. The system consists of a transportation cart and a lift carriage, which allows the units to be moved horizontally and vertically for proper alignment during installation and removal process.

Large Size Cart• Typically used for heavy-duty units with high

mounting heights.

Small Size Cart• Typically used for light duty units

with low mounting heights.


telemanipulatorsNotes

© Copyright, 2016 DESTACO. All rights for layout, photos and text rest with the publisher DESTACO. All photomechanical or other reproductions only with our express permission. All sales are based on our terms and conditions of sale, delivery and payment. RH_TEL-B_1116_US

NORTH AMERICADESTACO Headquarters Auburn Hills, MichiganTel: 1.248.836.6700Toll Free: 1.888.DESTACOMarketing: [email protected] Service: [email protected]

Mt. Juliet, TennesseeTel: 1.888.DESTACOCustomer Service: [email protected]

Wheeling, IllinoisTel: 1.800.645.5207Customer Service: [email protected]

Red Wing, Minnesota (Central Research Laboratories)Tel: 651.385.2142Customer Service: [email protected]

SOUTH AMERICABrazilTel: 0800-124070Customer Service: [email protected]

ASIAThailandTel: +66-2-326-0812Customer Service: [email protected]

ChinaTel: +86-21-6081-2888Customer Service: [email protected]

IndiaTel: +91-80-41123421-426Customer Service: [email protected]

EUROPEGermanyTel: +49-6171-705-0Customer Service: [email protected]

FranceTel: +33-4-7354-5001Customer Service: [email protected]

UKTel: +44-1902-797980Customer Service: [email protected]

SpainTel: +34-936361680Customer Service: [email protected]

NetherlandsTel: +31-297285332Customer Service: [email protected]

Global Locations

Brazil

Spain

Netherlands

UK

France

India

Thailand

China

Mt. Juliet, TN USA

Auburn Hills, MI USA

GermanyRed Wing, MN USA

Wheeling, IL USA

telemanipulators - destaco

Documents