• English
  • Deutsch
  • Log In
    Password Login
    Research Outputs
    Fundings & Projects
    Researchers
    Institutes
    Statistics
Repository logo
Fraunhofer-Gesellschaft
  1. Home
  2. Fraunhofer-Gesellschaft
  3. Konferenzschrift
  4. ROBBE - Robotergestützte Bearbeitung von Baugruppen beim Rückbau von Kernkraftwerken
 
  • Details
  • Full
Options
2023
Conference Paper
Title

ROBBE - Robotergestützte Bearbeitung von Baugruppen beim Rückbau von Kernkraftwerken

Abstract
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.
Author(s)
Santos, Pedro
Fraunhofer-Institut für Graphische Datenverarbeitung IGD  
Knuth, Martin  
Fraunhofer-Institut für Graphische Datenverarbeitung IGD  
Ritz, Martin  
Fraunhofer-Institut für Graphische Datenverarbeitung IGD  
Recknagel, Jörg
RWE Nuclear GmbH
Steinbacher, Klaus
TSE WASSMANN
Fellner, Dieter
Fraunhofer-Institut für Graphische Datenverarbeitung IGD  
Wassmann, Burkhard
TSE WASSMANN
Mainwork
16. Internationales Symposium "Konditionierung Radioaktiver Betriebs- und Stilllegungsabfälle" 2023. Full Paper  
Project(s)
ROBotergestützte BEarbeitung von Baugruppen  
Funder
Bundesministerium für Bildung und Forschung -BMBF-
Conference
Internationales Symposium "Konditionierung Radioaktiver Betriebs- und Stilllegungsabfälle" 2023  
International Symposium "Conditioning of Radioactive Operational and Decommissioning Waste" 2023  
Link
Link
Language
German
Fraunhofer-Institut für Graphische Datenverarbeitung IGD  
Keyword(s)
  • Branche: Automotive Industry

  • Branche: Information Technology

  • Research Line: Computer vision (CV)

  • Research Line: Human computer interaction (HCI)

  • Research Line: (Interactive) simulation (SIM)

  • Research Line: Machine learning (ML)

  • LTA: Interactive decision-making support and assistance systems

  • LTA: Monitoring and control of processes and systems

  • LTA: Machine intelligence, algorithms, and data structures (incl. semantics)

  • LTA: Generation, capture, processing, and output of images and 3D models

  • 3D Digitization

  • 3D Reconstruction

  • Autonomous adaptive control

  • Robotics

  • Surface processing

  • Cookie settings
  • Imprint
  • Privacy policy
  • Api
  • Contact
© 2024