ROBBE - Robotergestützte Bearbeitung von Baugruppen beim Rückbau von Kernkraftwerken

ROBBE was launched as a R&D project in March 2020, funded by the German Ministry of Eduaction and Research (BMBF) as part of the funding concept FORKA (Research for the dismantling of nuclear facilities).
The aim was to develop a prototype of an autonomously operating robot system that independently processes painted and coated metal components of any shape geometry from dismantling. ROBBE uses the UHP water jet technology in such a way that the coating is completely removed from the entire surface of the components. This enables the complete removal of any contamination that may be bound in the coating itself, on its surface or underneath at the boundary layer to the substate. The machinery consists basically of a 6-axis robot arm and a NC-controlled machine turntable. Major tools are a laser scanner and a water jet high-pressure machining tool, both integrated in the robots end effector.
ROBBE went through all phases from multi-stage development and transition to productive operation. It was implemented in the controlled area of Unit A of the RWE Plant Biblis and is currently in commissioning.
The research and development focussed on the areas of real-time processing, autonomous laser scanning, path planning and simulation of the decoating process as well as the engineering and development of the industrial prototype design and its UI for operation. The theoretical approaches have been transferred in terms of software and technology to microelectronic or mechatronic systems, first tested as a research prototype installed at the Fraunhofer institute IGD and then further developed into an industrial prototype for use as a main process of the dismantling factory.
The process operation can roughly be broken down iin the following parts:
- detection of the component geometry by a self-developed laser scanner
- filtering out interfering geometry from artefacts, fasteners and clamping.
- trajectory planning, simulation and optimization of the cleaning path
- cleaning with optional repositioning of the object. The optimized cleaning trajectory data is finally transferred to the industrial robot, which navigates the UHP nozzle over the components surface to be processed. The cleaning program enables intensive post-cleaning or reclamping of components. Additional non-optical sensors are implemented to complement vision-based collision protection and monitor any errors during operation.