EP4597519A1 - Robot, in particular milling robot, for dismantling nuclear installations - Google Patents

Abstract

The invention relates to a robot for the dismantling of nuclear facilities. The robot comprises an upper carriage and an undercarriage rotatably connected to the upper carriage. At least three support legs are arranged on the undercarriage for lateral or horizontal support of the robot. The undercarriage has at least one support system for vertical support and/or for vertical or height adjustment of the robot. The upper carriage has at least one arm, at the end of which at least one attachment is arranged and/or can be arranged.

Description

The invention relates to a robot, in particular a milling robot, for the dismantling of nuclear facilities, wherein the robot has an upper carriage and an undercarriage rotatably connected to the upper carriage. The robot according to the invention is preferably used for dismantling the biological shield and/or the support shield of a reactor pressure vessel in a nuclear power plant. The biological shield of a reactor pressure vessel is in particular a reinforced concrete cylinder surrounding the reactor pressure vessel, preferably with a base plate. The reinforced concrete cylinder of the biological shield can, for example, have a wall thickness of 0.3 m to 1.0 m. The support shield of a reactor pressure vessel is in particular a reinforced concrete cylinder encasing the biological shield and has a wall thickness of, for example, 1.0 m to 1.5 m.

Devices and robots for the dismantling of nuclear facilities are generally known in practice in various forms. The robots are used for dismantling work, demolition work, or even for surveying and documentation work that arise during the dismantling of nuclear facilities. However, it has been shown that the known robots for the dismantling of nuclear facilities leave much to be desired, particularly with regard to their flexibility. With these robots, only very specific dismantling measures or dismantling work can be carried out individually. Furthermore, it has been shown that the known robots for the dismantling of nuclear facilities often do not meet all requirements in terms of reliability. As a rule, when using robots for the decommissioning of nuclear facilities, it is desirable to minimize and, in particular, avoid the presence of personnel in the robot's working environment. This is often not possible with existing measures and robots, which are maintenance-intensive and not very flexible. This is where the invention comes in.

The invention is based on the technical problem of providing a robot of the type mentioned above that is characterized by flexible applicability and improved reliability—in particular, by reduced maintenance requirements—and with which, moreover, dismantling measures in nuclear facilities can be carried out while minimizing or avoiding the presence of personnel in the robot's working environment. Furthermore, the invention is based on the technical problem of providing a method for dismantling nuclear facilities using such a robot.

To solve this technical problem, the invention teaches a robot, in particular a milling robot, for the dismantling of nuclear facilities, wherein the robot has an upper carriage and an undercarriage rotatably connected to the upper carriage, wherein at least three, preferably at least four, - preferably telescopically designed - support legs for lateral or horizontal support of the robot are arranged, in particular articulated, on the undercarriage, wherein the undercarriage has at least one support system for vertical support and/or for vertical adjustability or height adjustability of the robot, wherein the superstructure has at least one arm, at the end of which at least one attachment, in particular at least one milling device, is and/or can be arranged.

Here and below, particular reference is made to the setup state of the robot according to the invention, in which the robot is preferably arranged in a work environment and is mounted on a work surface of the work environment by means of the support system. Terms such as "horizontal,""vertical,""lateral,""top,""bottom," and the like, within the scope of the invention, refer in particular to this setup state of the robot according to the invention. The work environment of the robot is preferably the biological shield and/or the support shield of the reactor pressure vessel of a nuclear power plant. The biological shield and/or the support shield are designed, in particular, as cylindrical concrete containers or reinforced concrete containers. The robot according to the invention is preferably mounted with the support system on a work surface, in particular on the floor of the work environment, for example, the biological shield and/or the support shield, and expediently carries out dismantling work on the concrete structures or reinforced concrete structures of the biological shield and/or the support shield, for example, on the interior walls and/or on the floor. In principle, the robot according to the invention can also be used for dismantling in other working environments of nuclear facilities. The term "dismantling of nuclear facilities" refers, in particular, to the dismantling of decommissioned nuclear facilities. Facilities - for example nuclear power plants - using dismantling and/or dismantling techniques.

According to the invention, the robot has at least one upper carriage and at least one undercarriage rotatably connected to the upper carriage. In this case, the term “upper carriage” refers in particular to the part of the robot arranged above the undercarriage when the robot is in its setup state and which is rotatably connected to the undercarriage. “Rotatably connected” refers in particular to the connection between the upper carriage and undercarriage enabling a rotational movement of the upper carriage and/or undercarriage relative to one another. According to a preferred embodiment of the invention, the upper carriage and undercarriage of the robot are rotatably connected to one another via a rotary joint. Most preferably, the undercarriage has an assembly pocket into which the upper carriage is inserted, thereby creating the rotatable connection between the upper carriage and undercarriage. It is possible for the upper carriage and/or undercarriage of the robot to be designed to be interchangeable, so that different upper carriages and/or different undercarriages can be conveniently combined with one another in the form of a modular system. Within the scope of the invention, the undercarriage serves in particular to support the robot in a lateral or horizontal and vertical direction and the upper carriage of the robot preferably serves to carry out dismantling measures.

According to the invention, at least three, preferably at least four, support legs are arranged on the undercarriage for lateral or horizontal support of the robot, in particular by articulation. It is particularly preferred that at least five, in particular at least six, support legs for lateral or horizontal support of the robot are arranged, in particular articulated, on the undercarriage. Most preferably, six support legs for lateral or horizontal support of the robot are arranged, in particular articulated, on the undercarriage.

A particularly preferred embodiment of the invention is characterized in that at least one, preferably each, of the support legs arranged on the undercarriage, in particular articulated, is designed to be telescopic. The individual support legs are expediently telescopic independently of one another. It is within the scope of the invention that the telescopic support legs of the undercarriage are designed to be hydraulically telescopic. The preferred embodiment with the telescopic support legs is based on the finding that the lateral or horizontal support of the robot is thereby very flexible and can be flexibly adapted to different work environments and support situations. The robot can be expediently fixed, in particular pressed, laterally or horizontally within the work environment by means of the telescopic support legs, and this fixation can be flexibly adapted to changing diameters of the work environment. The term lateral or horizontal support of the robot refers, in the context of the invention, in particular to the setup state of the robot. The support legs advantageously support the robot laterally or horizontally at the edges, in particular at the walls, of the work environment, which extend transversely, in particular perpendicularly or essentially perpendicularly to the ground of the work environment. If the support legs support the robot laterally or horizontally in the setup state, the support legs are in particular in a support position.

According to a preferred embodiment of the invention, the support legs are articulated to the undercarriage of the robot. This articulated arrangement of the individual support legs on the undercarriage enables, in particular, relative movement of the support legs to the undercarriage, specifically into and out of a support position for lateral or horizontal support of the robot. For this purpose, the support legs can preferably be folded down toward the work surface due to the articulated arrangement on the undercarriage and/or folded up toward the superstructure, particularly away from the work surface.

It is particularly preferred that the undercarriage has a central element to which the support legs are arranged or hinged. According to a preferred embodiment, the central element is designed as a tubular hollow body. According to a very preferred embodiment, the central element has an angular, preferably a triangular and/or a quadrangular and/or a pentagonal and/or a hexagonal and/or at least hexagonal cross-sectional area or base area. According to a very particularly preferred embodiment, the central element of the undercarriage is designed as a prism, in particular as a hollow prism or a hollow prism open on both sides, with a triangular and/or quadrangular and/or pentagonal and/or hexagonal cross-sectional area or base area, in particular with a hexagonal, preferably with an equilateral hexagonal, cross-sectional area or base area, and then very preferably on the outer sides or outer surfaces of this One of the support legs, in particular one of the six support legs, is arranged or articulated on the central element. The support legs are then expediently distributed evenly around the central element in a plan view of the robot, specifically with a hexagonal, in particular equilateral hexagonal, cross-sectional area of the central element and an offset angle of 60° between each two support legs. In principle, the central element of the undercarriage can also have other cross-sectional areas or base areas, for example a round, in particular a circular, cross-sectional area, and can then be designed in particular as a cylinder or hollow cylinder.

It is preferred that the support legs of the undercarriage or the robot are arranged in the support position such that an angle of at least 1°, preferably of at least 2°, particularly preferably of at least 3°, and most preferably of at least 4° results between the respective support leg and a horizontal plane. The angle between a horizontal plane and the respective support leg in the support position is expediently between 2° and 10°, preferably between 3° and 8°, and most preferably between 4° and 7°, for example, 6° or approximately 6°. This angle is measured in particular between a horizontal plane passing through the connection point or articulation point of the respective support leg and the longitudinal center axis of the support leg. Most preferably, the angle, in the dimensions specified above, results between this horizontal plane and the support leg in the direction of the work surface of the work environment. Then, in the support position, the support legs are preferably not fully extended or unfolded into the horizontal plane. but the angle results in the sizes specified above between the respective supporting leg or the longitudinal center axis of the respective supporting leg and the horizontal plane.

According to the invention, the robot has at least one support system for vertical support and/or for vertical adjustability or height adjustability of the robot. Vertical support refers in particular to the support of the robot on the work surface of the work environment. Vertical adjustability or height adjustability refers in particular to the adjustability, preferably the movability, of the robot in the vertical direction or in the height direction. Thus, the robot according to the invention is preferably supported laterally or horizontally by means of the support legs, which are in particular designed to be telescopic, for example on the inner walls of the biological shield and/or the support shield, and is supported vertically by means of the at least one support system, in particular on the work surface of the work environment, for example on the floor of the biological shield and/or the support shield, and is preferably vertically adjustable or height adjustable.

According to the invention, the superstructure has at least one arm, at the end of which at least one attachment, in particular in the form of at least one milling device, is arranged and/or can be arranged. According to a preferred embodiment of the invention, the at least one arm of the superstructure is provided with a quick-change device, preferably with at least one tiltrotator with integrated quick-change device, for changing the at least one attachment arranged at the end of the arm. equipped. The quick-change device is preferably mechanically and/or hydraulically actuated. Preferably, the at least one quick-change device is also arranged at the end of the at least one arm and in particular upstream of the attachment. In this way, the robot according to the invention can be used particularly flexibly, because various attachments can be arranged on the arm of the robot or on the quick-change device, which can be used for various dismantling measures or individual steps of these dismantling measures and which can be easily exchanged using the at least one quick-change device. Advantageously, no personnel presence is required for this purpose, but the attachments can preferably be changed remotely. Depending on the work or dismantling measure to be carried out, the attachments can thus be exchanged flexibly and reliably.

According to a preferred embodiment of the invention, a milling device is arranged at the end of the at least one arm and/or a milling device can be arranged at the end of the at least one arm. Concrete structures, in particular reinforced concrete structures, can expediently be removed with the milling device during demolition measures. The removal by means of the milling device, in particular, results in removed or mined material. It is within the scope of the invention that the at least one milling device is or can be operated electrohydraulically. The dismantling or removal of reinforced concrete structures can be carried out with the robot according to the invention, but also with other attachments. This will be explained in more detail below.

A very preferred embodiment of the robot according to the invention is characterized in that the at least one support system has at least one mast, in particular at least one central mast, wherein the mast, in particular the central mast, preferably has at least two mast elements, more preferably at least three mast elements, which are particularly preferably arranged one above the other and/or can be arranged one above the other. According to one embodiment of the invention, the mast, in particular the central mast, has at least four, preferably at least five, more preferably at least six mast elements. It is within the scope of the invention that the mast, in particular the central mast, is designed to be telescopic and, according to one embodiment, is designed to be hydraulically telescopic. By means of the at least one mast, in particular by means of the at least one central mast, according to one embodiment of the invention, in particular the vertical support and/or the vertical adjustability or height adjustability of the robot is achieved.

A particularly preferred embodiment of the robot according to the invention is characterized in that the at least one support system has at least one hydraulic element, preferably at least two hydraulic elements, preferably at least three hydraulic elements, wherein the robot is preferably vertically adjustable or height-adjustable by means of the at least one hydraulic element, in particular is vertically movable, and wherein the at least one hydraulic element is particularly preferably at least one hydraulic cylinder and very particularly preferably at least one hydraulic telescopic cylinder.

According to a very preferred embodiment of the invention, the at least one support system has at least three hydraulic elements, in particular three hydraulic elements, and these hydraulic elements are preferably designed as hydraulic cylinders, preferably as hydraulic telescopic cylinders. The at least one hydraulic element, in particular the hydraulic elements, expediently extend in the vertical direction, i.e. in particular transversely, preferably perpendicularly or essentially perpendicularly to the working surface of the work environment and preferably serve for vertical adjustability or height adjustability and particularly preferably for vertical movability of the robot, in particular of the uppercarriage and at least parts of the undercarriage. The hydraulic elements, in particular the hydraulic cylinders, preferably the hydraulic telescopic cylinders, are preferably continuously adjustable or telescopic.

It is within the scope of the invention that the at least one hydraulic element, preferably the hydraulic elements, is/are connected on the one hand to at least one central element of the undercarriage and preferably on the other hand to a base element, in particular to a base plate, of the support system. According to a preferred embodiment, the mast, in particular the central mast, preferably a lowermost mast element of the mast or the central mast, is also connected to the base element, in particular to the base plate. The preferably provided at least one base plate is expediently placed on the working surface of the work environment.

If, according to a preferred embodiment, the robot has at least one mast, in particular at least one central mast, and furthermore at least one hydraulic element, preferably at least two and particularly preferably at least three hydraulic elements—in particular in the form of hydraulic cylinders or hydraulic telescopic cylinders—then the vertical forces of the robot are expediently dissipated essentially via the hydraulic elements. If, according to a preferred embodiment, at least three hydraulic elements, in particular three hydraulic elements—preferably in the form of hydraulic cylinders, preferably in the form of hydraulic telescopic cylinders—are provided together with a mast, in particular a central mast, for the support system, then these three hydraulic elements are preferably arranged around the mast, in particular around the central mast, and the mast or central mast then preferably prevents torsion of the support system when the hydraulic elements are extended and/or retracted. The mast, in particular the central mast, is then preferably designed to be telescopic. This will be explained in more detail below.

According to a preferred embodiment of the invention, the at least one hydraulic element is connected to at least one central element of the undercarriage. The support legs are expediently arranged, in particular articulated, on this central element of the undercarriage. It is possible for the at least one central element of the undercarriage to be the uppermost mast element of the mast, in particular the central mast. However, the at least one central element of the undercarriage is very preferably a separate element, which, according to a particularly preferred embodiment, surrounds the uppermost mast element of the mast, in particular the central mast, and is more preferably arranged coaxially with the uppermost mast element. For this purpose, the at least one central element of the undercarriage is expediently designed as a tubular hollow body, as already explained above.

According to a further preferred embodiment, the at least one hydraulic element, in particular the hydraulic elements, is connected to a foot element, in particular to a foot plate, of the support system. It has proven useful for the at least one hydraulic element, in particular the hydraulic elements, to be articulated to the at least one foot element, in particular to the at least one foot plate. The at least one foot element of the support system expediently serves to distribute the vertical loads of the robot. Due to the design of the robot according to the invention, it is preferred that only or essentially only vertical forces arrive at the foot element, in particular at the foot plate, so that according to a very preferred embodiment of the robot according to the invention, anchoring the foot plate in the working surface of the work environment is not necessary. This further increases the flexible usability of the robot.

It is preferred that the support legs of the robot extend laterally from the at least one central element of the undercarriage, wherein the support legs are preferably arranged, in particular hinged, on the central element. The lateral extension of the support legs refers in particular to at least one support position of the support legs. As already explained above, the central element of the undercarriage is preferably an uppermost mast element of the mast, in particular of the central mast, and/or preferably surrounds an uppermost mast element of the mast, in particular of the central mast. It is also possible in principle for the central element of the undercarriage not to be an element of the mast and not to surround it, for example, if no mast or central mast is present or if the central element is arranged independently or separately from the mast.

It is within the scope of the invention that the at least one mast, in particular the central mast, is designed to be telescopic. If, according to a preferred embodiment of the invention, at least one hydraulic element, preferably in the form of at least one hydraulic cylinder or hydraulic telescopic cylinder, is provided in addition to the at least one mast, in particular in addition to the at least one central mast, it is preferred that the at least one mast, in particular the at least one central mast, is designed as a telescopic hollow box system in which the nested hollow boxes are preferably telescoped only by means of or during the vertical movement of the at least one hydraulic element. Within the scope of such an embodiment, the mast, in particular the central mast, in particular prevents torsion of the support system during adjustment of the at least one hydraulic element, in particular the hydraulic elements, and thus during the upward and/or downward movement of the robot or the undercarriage.

According to an alternative embodiment of the robot according to the invention, the at least one mast, in particular the central mast, is designed as a modular mast system comprising at least two mast elements, preferably at least three mast elements, wherein the modular mast system preferably forms a support mast or a central support mast of the robot. It is then possible for no hydraulic elements or hydraulic cylinders to be provided for the upward and/or downward movement of the robot or the undercarriage, but for the upward and/or downward movement to be realized by the assembly and/or disassembly of the individual mast elements. In such a configuration, in which the modular mast system preferably forms a support mast or a central support mast of the robot, the vertical forces are preferably dissipated via this support mast or central support mast.

It is particularly preferred that at least one planking element is and/or can be arranged between at least two support legs of the undercarriage, wherein at least one planking element is preferably provided between each two adjacently arranged support legs of the undercarriage, so that very preferably a closed plane, in particular a walkable closed plane, is formed by the support legs and the planking elements. The individual planking elements are expediently placed on the support legs after the support legs have been brought into the support position. In principle, it is also possible that no closed or complete plane is formed from the planking elements, but that only individual planking elements are arranged between selected support legs. Very particularly preferably, the planking elements are on or Arranged above the supporting legs and, in particular, placed on the supporting legs, so that, according to a preferred embodiment, a closed plane is formed by the planking elements and the supporting legs when a planking element is arranged between each pair of adjacently arranged supporting legs. If, according to a preferred embodiment, the supporting legs extend laterally from a central element of the undercarriage, the individual planking elements are, in particular, triangular or substantially triangular in shape.

Within the scope of the invention, it is particularly preferred that the robot is an unmanned robot, which can be controlled remotely, in particular via cable and/or radio. Personnel presence is preferably not required during operation of the robot when carrying out dismantling measures or individual work steps of dismantling measures. Changing the attachments of the robot according to the invention can also preferably be carried out without personnel being present in the work environment. Conveniently, the lubrication of at least some of the robot's bearing points also takes place automatically, so that maintenance processes requiring personnel presence in the work environment can be further reduced.

It is within the scope of the invention that the robot has a plurality of attachments, which are preferably stored on the supporting legs of the undercarriage and/or on the planking elements, preferably in at least one storage box, and particularly preferably can be arranged on at least one arm of the superstructure. The arrangement of the The attachment of individual attachments to at least one arm of the superstructure, in particular the changing of attachments, is preferably carried out by means of the quick-change device arranged on the arm according to a preferred embodiment. The quick-change device is preferably interposed between the end of the arm and the attachment. This embodiment is based on the knowledge that the attachments, which are preferably stored on the support legs of the undercarriage and/or on the planking elements, preferably in at least one storage box, can be arranged on at least one arm of the superstructure without personnel being present in the work environment, depending on the respective step of the dismantling measure to be carried out. By means of the preferably provided quick-change device, the attachments can be changed very easily and reliably, and attachments not required in the respective step of the dismantling measure are preferably kept close to the arm, so that a quick and reliable change can take place.

Within the scope of the invention, it is preferred that the robot has at least one milling device and/or at least one hydraulic shear and/or at least one hydraulic hammer and/or at least one electromagnet and/or at least one vacuum cleaner head and/or at least one wall saw as an attachment. These attachments enable, in particular, the functionally reliable dismantling or removal of concrete structures, in particular reinforced concrete structures, during the dismantling of nuclear facilities, preferably during the dismantling of the biological shield and/or the support shield of a reactor pressure vessel.

It is within the scope of the invention for the robot to have at least two milling devices and/or at least two wall saws as attachments. These are expediently stored or kept ready, as described above, on the support legs of the undercarriage and/or on the planking elements. If a milling device and/or a wall saw fails during robot operation, work can continue directly with the other milling device and/or the other wall saw after it has been installed or replaced on the arm of the uppercarriage, without requiring personnel intervention.

The at least one electromagnet expediently serves to lift severed reinforcing bars from the reinforced concrete structures. The at least one vacuum cleaner head expediently enables the cleaning of the work area. Furthermore, any removed material that has fallen down can expediently be subsequently picked up from the floor area of the work area using the at least one vacuum cleaner head.

It is further preferred that the robot has at least one suction device, in particular at least one pneumatic suction device, with which preferably material that has been removed or mined by the attachment, in particular by the milling device, can be suctioned off - preferably during operation of the attachment, in particular the milling device -, wherein the suction device particularly preferably has at least one suction bell and/or at least one vacuum suction device and/or at least one cyclone separator. It is preferably possible that the at least an extraction bell is part of the at least one milling device, so that the extraction bell can achieve a flush or substantially flush finish with the wall of the working environment from which the at least one milling device removes or removes material.

If material is removed or extracted with the at least one attachment, in particular with the at least one milling device, and is extracted by the at least one suction device, this extracted material can be temporarily stored in an intermediate storage container according to one embodiment. Such an intermediate storage container is expediently arranged on the upper carriage and/or on the undercarriage of the robot. According to a very preferred embodiment of the invention, the material extracted by the suction device, which was removed or extracted by the attachment, in particular by the milling device, is transported out of the work environment without intermediate storage. For this purpose, a suction container is preferably used—in particular arranged outside the work environment—and the extracted material can then be packaged outside the work environment. The suction container expediently performs pneumatic suction and removal of the removed material according to the operating principle of a vacuum cleaner. For this purpose, a suction hose is preferably used, which is preferably arranged on the attachment, in particular on the milling device, preferably on the extraction bell of the milling device.

It is within the scope of the invention that the milling device has at least one cutting wheel, wherein preferably along the outer circumference of the A plurality of milling chisels are arranged on the cutting wheel, wherein the milling chisels are preferably individually replaceable. Within the scope of the invention, the at least one milling device can be used to dismantle concrete structures, in particular reinforced concrete structures, in nuclear facilities, in particular concrete structures, preferably reinforced concrete structures, the biological shield, and/or the supporting shield. The preferably provided milling chisels of the cutting wheel remove the mineral structure of the concrete structures, in particular reinforced concrete structures, preferably in a small grain size, and are preferably also capable of removing the steel reinforcement—at least partially.

It is within the scope of the invention that a drive module, in particular in a drive box, is arranged on the upper carriage of the robot. The drive module expediently has a hydraulic unit for operating the robot and/or the robot's hydraulic elements. The drive module is expediently arranged on the upper carriage diametrically opposite the at least one arm of the upper carriage. The drive module thus expediently also acts as a counterweight to the arm.

In order to prevent the falling of removed particles during operation of the robot or the attachment, in particular the milling device, it is possible within the scope of the invention for additional sealing measures to be implemented between the preferably provided planking elements and the edges, in particular the walls, of the working environment. It is possible for at least one sealing lip to be arranged between a planking element and the edge, in particular the wall, of the working environment. This preferably allows a positive seal to be realized between the planking elements and the wall of the work environment. If, according to a particularly preferred embodiment, a closed plane is realized by the planking elements and the support legs, it is further preferred that the at least one sealing lip extends around the outer periphery of this plane formed by the planking elements, so that the area below this plane is completely or substantially completely sealed off from the area arranged above it.

It is within the scope of the invention that the robot according to the invention has a weight of 8 t to 20 t, preferably of 9 t to 16 t, more preferably of 10 t to 15 t and very particularly preferably of 11 t to 14 t. It is also within the scope of the invention that the lifting height of a hydraulic element, in particular a hydraulic cylinder, preferably a hydraulic telescopic cylinder, of the support system of the robot according to the invention is between 1 m and 10 m, preferably between 1 m and 8 m. It is further within the scope of the invention that the diameter or the largest diameter of the robot in the support position of the support legs is between 1.5 m and 3.0 m, preferably between 2.0 m and 2.8 m. Diameter or largest diameter means in particular the largest diameter of the robot between the ends of two support legs, in particular those arranged opposite one another, in the support position.

To solve the technical problem, the invention further teaches a method for dismantling a nuclear facility, wherein a robot as described above - in particular a milling robot - is used, wherein the robot is placed on a surface of a working environment with the at least one support system and is supported laterally or horizontally with the support legs, and material from the nuclear facility is removed or dismantled by means of the at least one attachment, in particular by means of the at least one milling device.

A particularly preferred embodiment of the method according to the invention is characterized in that—in particular before the robot is inserted into the work environment—a digital, three-dimensional model of the work environment is generated. The digital model is preferably generated by 3D scanning, and the digital model of the work environment is used, in particular, to control the robot and/or the at least one attachment, preferably at least to control the milling device. The 3D scan is expediently a 3D laser scan. The digital, three-dimensional model of the work environment expediently maps the work environment in a point cloud. Very preferably, within the scope of the method according to the invention, all movements or degrees of freedom of movement of the robot and the at least one attachment, in particular of the at least one milling device, are monitored with sensors. This expediently allows georeferencing of the robot and/or the attachment, in particular of the at least one milling device, in the generated digital, three-dimensional model of the work environment or in the generated coordinate system. This embodiment is based on the realization that the digital, three-dimensional model of the work environment enables precise control of the robot and/or of at least one attachment in the working environment is possible, so that, for example, precise control of the removal depth of concrete structures, in particular reinforced concrete structures, is made possible by the attachment, in particular by the milling device.

The wear status of the chisels of the cutting wheel of the milling device is expediently also detected by sensors. This further improves the controllability and/or adjustability of the removal depth. It is within the scope of the method according to the invention that the position data of the robot and/or of the at least one attachment, in particular of the at least one milling device, are displayed on monitors outside the work environment. These monitors also particularly preferably display status parameters of the robot and/or image information of the work environment recorded by cameras. These embodiments of the method according to the invention enable a further minimization or avoidance of personnel presence in the work environment.

It is within the scope of the method according to the invention that the working environment is the biological shield and/or the support shield of a reactor pressure vessel of a nuclear power plant, and wherein in particular at least the reinforced concrete structure of the biological shield and/or the support shield of the reactor pressure vessel is removed or dismantled by the robot at least partially, preferably up to a predetermined residual layer thickness, preferably completely or essentially completely. Within the scope of the method according to the invention, the mineral structure of the reinforced concrete structure of the reactor pressure vessel, in particular of the biological shield and/or the support shield of the reactor pressure vessel, is removed and preferably removed in a relatively small grain size by at least one attachment of the robot, in particular by the at least one milling device. Furthermore, within the scope of the method according to the invention, the reinforcement of the reinforced concrete structure is expediently removed at least partially, preferably completely or essentially completely, by at least one attachment of the robot. Within the scope of the method according to the invention, it is also possible for the reinforcement of the reinforced concrete structure to be severed by means of a saw, in particular a wall saw, which is preferably provided as a further attachment of the robot. Furthermore, cuts in the reinforcement of the reinforced concrete structure can preferably be realized by means of a preferably provided hydraulic shear as an attachment.

A particularly preferred embodiment of the method according to the invention is characterized in that the removed or mined material is extracted by means of at least one suction device, in particular by means of at least one pneumatic suction device, and is preferably extracted during operation of the attachment, in particular the milling device. Within the scope of the method according to the invention, the extracted or mined material is preferably extracted by means of at least one suction bell, which is very particularly preferably part of the at least one milling device. It is further preferred that the extracted material is transported out of the working environment without intermediate storage. For this purpose, at least one suction container is expediently provided outside the work area, with which the removed or dismantled material is transported out of the work area, in particular according to the operating principle of a vacuum cleaner.

It is preferred that the removal or dismantling of the material of the nuclear facility, preferably the reinforced concrete structure of the biological shield and/or the support shield of the reactor pressure vessel, takes place without personnel being present in the work area. The robot is expediently controlled remotely via cable and/or radio within the scope of the method according to the invention.

It is particularly preferred that the removed or extracted material, after being extracted by the at least one extraction device, be placed in transport and/or storage containers for radioactive waste. It is further preferred that removed or extracted material that was removed or extracted by other attachments of the robot according to the invention be placed in transport and/or storage containers for radioactive waste after being removed from the work environment. This can, for example, be pieces of reinforcement removed, e.g., cut out, from the reinforced concrete structure.

It is within the scope of the method according to the invention that the robot is adjusted vertically or height-adjusted by means of the at least one support system, in particular is moved vertically and in this way by the underground of the work environment and/or is moved towards the underground of the work environment. Preferably, the robot according to the invention is first inserted into the work environment, in particular into the biological shield and/or the support shield of a reactor pressure vessel, and moved into an upper region of the work environment by means of the at least one hydraulic element, in particular by means of the three hydraulic telescopic cylinders. The support legs, in particular the six support legs, are then brought into the support position and preferably pressed against the inside of the work environment, in particular against the inner walls of the biological shield and/or the support shield. Dismantling and/or removal measures are then carried out by at least one attachment of the robot, preferably by means of at least one milling device. Within the scope of the method according to the invention, the robot is then lowered in particular by means of the at least one hydraulic element, preferably by means of the three hydraulic telescopic cylinders, so that the dismantling or removal can take place in a section of the biological shield and/or the support shield arranged further down. In principle, however, it is also possible for the robot according to the invention to first carry out removal and/or dismantling measures in a lower section of the working environment, in particular of the biological shield and/or the support shield of a reactor pressure vessel, and then to be moved to a higher position by means of the at least one hydraulic element, in particular by means of the three hydraulic telescopic cylinders.

To solve the technical problem, the invention also teaches the use of a robot as described above, in particular a milling robot as described above, for the dismantling of a nuclear facility, preferably for the dismantling of the biological shield and/or the support shield of a reactor pressure vessel in a nuclear power plant.

The invention is based on the finding that the robot according to the invention can be used very flexibly for the dismantling of nuclear facilities and that the presence of personnel in the robot's working environment can be minimized or avoided. The inventive design of the robot enables the implementation of a wide variety of dismantling measures or a wide variety of steps within the scope of dismantling measures. In particular, the reinforced concrete structures of the biological shield and/or the support shield of a reactor pressure vessel can be removed or dismantled by the robot according to the invention down to a predetermined residual layer thickness, preferably completely or essentially completely. In addition to its flexible applicability, the robot is characterized in particular by the fact that it requires little maintenance and that, in particular, the presence of personnel in the working environment during maintenance measures is avoided. With the robot according to the invention and with the inventive method, legal and regulatory criteria for dismantling measures can be reliably adhered to. This concerns, for example, the removal limits and residual layer thicknesses during the removal and/or dismantling of the biological shield and/or the support shield of a reactor pressure vessel of nuclear Systems. It should also be emphasized that the measures according to the invention are relatively inexpensive and that the robot according to the invention and the method according to the invention are therefore particularly characterized by their high cost-effectiveness.

Fig. 1

einen erfindungsgemäßen Roboter in einer perspektivischen Ansicht

Fig. 2

den Gegenstand gemäß Fig. 1 in einer perspektivischen Unteransicht

Fig. 3

den erfindungsgemäßen Roboter in einer Arbeitsumgebung

Fig. 4

die Fräsvorrichtung eines erfindungsgemäßen Roboters.

The invention is explained in more detail below with reference to a drawing that represents only one exemplary embodiment. The drawing shows a schematic representation:

Fig. 1

a robot according to the invention in a perspective view

Fig. 2

the item according to Fig. 1 in a perspective bottom view

Fig. 3

the robot according to the invention in a working environment

Fig. 4

the milling device of a robot according to the invention.

The figures show a robot 1 for the dismantling of nuclear facilities, which is preferably designed as a milling robot in the exemplary embodiment shown in the figures. According to the invention, the robot 1 comprises an upper carriage 2 and an undercarriage 3 rotatably connected to the upper carriage 2. Preferably, and in the exemplary embodiment shown in the figures, the upper carriage 2 and the undercarriage 3 are rotatably connected to one another via a pivot joint.

Preferably, and in the exemplary embodiment shown in the figures, six telescopically designed support legs 4 are articulated to the undercarriage 3 for lateral or horizontal support of the robot 1. The figures show the robot 1 according to the invention in an erected state. Fig. 3 the robot 1 according to the invention is shown in a working environment. The support legs 4 of the robot 1 are expediently and in the exemplary embodiment each designed to be hydraulically telescopic. The articulated arrangement of the individual support legs 4 on the undercarriage 3, which is preferred and provided in the exemplary embodiment, enables a relative movement of the support legs 4 to the undercarriage 3, in particular into a support position shown in the figures for lateral or horizontal support of the robot 1 and again out of this support position. In the exemplary embodiment according to the figures and preferably, the support legs 4 can be folded down towards the working surface and folded up towards the uppercarriage 2 due to the articulated arrangement on the undercarriage 3.

Particularly preferred and in the embodiment according to the figures, the undercarriage 3 has a central element 17 to which the support legs 4 are hinged. This is particularly the case in the Fig. 2 The central element 17 is designed according to the preferred embodiment and in the exemplary embodiment as a tubular hollow prism with an equilateral hexagonal cross-sectional area. Expediently and in the exemplary embodiment, on each of the six outer surfaces or outer sides of this hollow prism with an equilateral hexagonal cross-sectional area, one of the six Support legs 4 are articulated. This preferably results in an offset angle of 60° or approximately 60° between two support legs 4 arranged next to one another in the exemplary embodiment. Furthermore, the support legs 4 of the robot 1 or of the undercarriage 3 are preferably arranged in the support position shown in the figures in such a way that an angle of between 3° and 8°, preferably and in the exemplary embodiment of 6° or approximately 6°, results between the support legs 4 or a longitudinal center axis of the respective support leg 4 and a horizontal plane running through the articulation point of the support legs 4 on the central element 17, and expediently and in the exemplary embodiment in the direction of the work surface of the work environment, so that the support legs 4 are not fully folded out into the horizontal plane in the support position.

The working environment of the robot 1 is in particular and in the embodiment (in particular Fig. 3 ) around the biological shield (16) of a reactor pressure vessel.

According to the invention, the undercarriage 3 has at least one support system 5 for vertical support and/or for vertical adjustability or height adjustment of the robot 1. Preferably, and in the exemplary embodiment according to the figures, the support system 5 has a central mast 9, which preferably and in the exemplary embodiment has five mast elements 10, which are expediently arranged one above the other in the exemplary embodiment and/or can be arranged one above the other. In the erected state of the robot 1, which is illustrated in the figures, the mast elements 10 are arranged one above the other or at least partially one above the other. The central mast 9 is very particularly preferably and in the exemplary embodiment is designed to be telescopic, specifically as a telescopic hollow box system in which, expediently and in the exemplary embodiment, nested hollow boxes are present as mast elements 10. The central element 17 of the undercarriage 3 preferably surrounds, and in the exemplary embodiment, the uppermost mast element 10.1 of the central mast 9 and is more preferably and in the exemplary embodiment arranged coaxially to the uppermost mast element 10.1 of the central mast 9. Preferably and in the exemplary embodiment, the support system 5 has three hydraulic elements designed as hydraulic telescopic cylinders 11, by means of which the robot 1, in particular the uppercarriage 2 and at least parts of the undercarriage 3, can be vertically adjusted or height-adjusted, preferably and in the exemplary embodiment can be moved vertically. Within the scope of the invention and in the exemplary embodiment, the central mast 9 prevents in particular the torsion of the support system 5 during the adjustment or movement of the hydraulic telescopic cylinders 11 during the upward and/or downward movement of the robot 1. The mast elements 10 of the telescopically designed central mast 9 are preferably and in the exemplary embodiment passively telescoped during the adjustment or movement of the hydraulic telescopic cylinders 11 and are arranged at least partially one above the other depending on the extended position of the hydraulic telescopic cylinders 11.

The preferably and in the embodiment provided three hydraulic telescopic cylinders 11 are expediently and in the embodiment on the one hand with the central element 17 of the undercarriage 3 and on the other hand with a foot element, preferably and in the embodiment with a Base plate 12 of the support system 5. More preferably, and in the exemplary embodiment, the central mast 9, preferably a lowermost mast element 10.5 of the central mast 9, is also connected to the base element or to the base plate 12. The base plate 12 is expediently placed on the work surface of the work environment, and in the exemplary embodiment according to the figures. Within the scope of the invention and in the exemplary embodiment according to the figures, the vertical force dissipation of the robot 1 takes place in particular via the hydraulic telescopic cylinders 11 and the base plate 12. More preferably, and in the exemplary embodiment according to the figures, the hydraulic telescopic cylinders 11 are each articulated to the base plate 12 and to the central element 17.

According to a very preferred embodiment of the robot 1 according to the invention and in the exemplary embodiment shown in the figures, a planking element 13 is arranged between each two adjacent support legs 4 of the undercarriage 3, so that a closed plane, in particular a closed walkable plane, is formed by the support legs 4 and the planking elements 13, preferably and in the exemplary embodiment. The planking elements 13 are expediently and in the exemplary embodiment placed on the support legs 4 or on each two adjacent support legs, so that a closed plane is preferably and in the exemplary embodiment placed on the planking elements 13 and the support legs 4. The individual planking elements 13 are expediently placed on the support legs 4 after the support legs 4 have been brought into the support position shown in the figures.

According to the invention, the robot 1 has an arm 6, at the end of which at least one attachment, preferably in the exemplary embodiment at least one milling device 7, is arranged. The arm 6 is preferably and in the exemplary embodiment equipped with a tiltrotator with an integrated quick-change device 8 for changing the at least one attachment arranged at the end of the arm 6. The quick-change device 8 is preferably and in the exemplary embodiment arranged between the end of the arm 6 and the attachment, in particular the milling device 7.

The robot 1 is, moreover, preferably and in the exemplary embodiment, an unmanned robot 1 that can be remotely controlled via radio. The robot 1 expediently has a plurality of attachments that can preferably be stored or kept ready on the support legs 4 of the robot 1 and can be arranged on the at least one arm 6 by means of the quick-change device 8. The robot 1 according to the invention shown in the figures may have, as additional attachments, at least one hydraulic shear and/or at least one hydraulic hammer and/or at least one electromagnet and/or at least one vacuum cleaner head and/or at least one wall saw, which are not shown in more detail in the figures.

Advantageously and in the exemplary embodiment, the robot has at least one pneumatic suction device with which material removed or removed by the attachment, in particular by the milling device 7, can be suctioned away. Preferably, during operation of the milling device 7, removed or removed material is suctioned away by the suction device without Intermediate storage is carried out or extracted from the working environment. This is Fig. 3 indicated by the suction hose 18. It is within the scope of the invention that the milling device 7 has at least one cutting wheel 14, wherein preferably and in the embodiment ( Fig. 4 ) A plurality of milling cutters 15 are arranged along the outer circumference of the cutting wheel 14, wherein the milling cutters 15 are preferably individually replaceable. The milling device 7 further preferably has, in the exemplary embodiment, a suction bell 19, with which, in particular, the sealing on the inner wall of the working environment can be realized and which preferably supports the suction process.

Within the scope of the method according to the invention, a robot 1 with the support system 5 is placed on a subsurface of a work environment, preferably and in the exemplary embodiment on the subsurface of the biological shield 16 of a reactor pressure vessel of a nuclear power plant, and supported laterally or horizontally by the support legs 4. Material from the nuclear facility is removed or dismantled by means of the at least one milling device 7, preferably and in the exemplary embodiment. Within the scope of the invention and in the exemplary embodiment, material from the reinforced concrete structure of the biological shield 16 is removed or dismantled, preferably and in the exemplary embodiment by means of the milling device 7. The reinforced concrete structure of the biological shield 16 is removed or dismantled, preferably and in the exemplary embodiment, down to a predetermined residual layer thickness. The removed or dismantled material is expediently and in the exemplary embodiment removed by means of at least one pneumatic suction device, preferably during operation of the milling device 7.

Within the scope of the method according to the invention, the robot 1 is moved vertically, in particular continuously vertically, and in this way within the scope of the invention and in the exemplary embodiment is moved towards the ground of the working environment.

Claims (18)

Robot, in particular a milling robot, for the dismantling of nuclear facilities, wherein the robot (1) has an upper carriage (2) and an undercarriage (3) rotatably connected to the upper carriage (2), wherein at least three, preferably at least four, - preferably telescopically designed - support legs (4) for lateral or horizontal support of the robot (1) are arranged, in particular articulated, on the undercarriage (3), wherein the undercarriage (3) has at least one support system (5) for vertical support and/or for vertical adjustability or height adjustability of the robot (1), wherein the upper carriage (2) has at least one arm (6), at the end of which at least one attachment, in particular at least one milling device (7), is and/or can be arranged. Robot according to claim 1, wherein the at least one arm (6) is equipped with a quick-change device (8), preferably with a tiltrotator with integrated quick-change device (8), for changing the at least one attachment arranged at the end of the arm (6). Robot according to one of claims 1 or 2, wherein the at least one support system (5) has at least one mast, in particular at least one central mast (9), wherein the mast, in particular the central mast (9), preferably has at least two mast elements (10), preferably at least three mast elements (10), which are particularly preferably arranged one above the other and/or can be arranged one above the other. Robot according to one of claims 1 to 3, wherein the at least one support system (5) comprises at least one hydraulic element, preferably at least two Hydraulic elements, preferably at least three hydraulic elements, wherein the robot (1) is preferably vertically adjustable or height-adjustable by means of the at least one hydraulic element, in particular is vertically movable, and wherein the at least one hydraulic element is particularly preferably at least one hydraulic cylinder and very particularly preferably at least one hydraulic telescopic cylinder (11). Robot according to claim 4, wherein the at least one hydraulic element, preferably the hydraulic elements, is/are connected on the one hand to at least one central element (17) of the undercarriage (3) and preferably on the other hand to a foot element, in particular to a foot plate (12), of the support system (5). Robot according to one of claims 1 to 5, wherein the support legs (4) of the robot (1) extend in the lateral direction from at least one central element (17) of the undercarriage (3), wherein the support legs (4) are preferably arranged, in particular articulated, on the central element (17), and wherein the central element (17) is preferably an uppermost mast element (10.1) of the mast, in particular of the central mast (9), and/or wherein the central element (17) preferably surrounds an uppermost mast element (10.1) of the mast, in particular of the central mast (9). Robot according to one of claims 2 to 6, wherein the at least one mast, in particular the central mast (9), is designed to be telescopic. Robot according to one of claims 1 to 7, wherein at least one planking element (13) is arranged and/or can be arranged between at least two support legs (4) of the undercarriage (3), wherein preferably at least one planking element (13) is provided between each two support legs (4) of the undercarriage (3) arranged next to one another, so that very preferably a closed plane, in particular a walkable closed plane, is formed by the support legs (4) and the planking elements (13). Robot according to one of claims 1 to 8, wherein the robot (1) is an unmanned robot (1) which can be controlled in particular remotely via cable and/or radio. Robot according to one of claims 1 to 9, wherein the robot (1) has a plurality of attachments which are preferably stored on the support legs (4) of the undercarriage (3) and/or on the planking elements (13), preferably in at least one storage box, and particularly preferably can be arranged on the at least one arm (6) of the superstructure (2). Robot according to one of claims 1 to 10, wherein the robot (1) has at least one milling device (7) and/or at least one hydraulic shear and/or at least one hydraulic hammer and/or at least one electromagnet and/or at least one vacuum cleaner head and/or at least one wall saw as an attachment. Robot according to one of claims 1 to 11, wherein the robot (1) has at least one suction device, in particular at least one pneumatic Suction device, with which preferably material which has been removed or mined by the attachment, in particular by the milling device (7), can be sucked off - preferably during operation of the attachment, in particular the milling device (7) -, wherein the suction device particularly preferably has at least one suction bell (19) and/or at least one vacuum suction device and/or at least one cyclone separator. Robot according to one of claims 1 to 12, wherein the milling device (7) has at least one cutting wheel (14), wherein preferably along the outer circumference of the cutting wheel (14) a plurality of milling chisels (15) are arranged, wherein the milling chisels (15) are preferably individually replaceable. Method for dismantling a nuclear facility, wherein a robot (1) - in particular a milling robot - according to one of claims 1 to 13 is used, wherein the robot (1) is placed on a subsurface of a working environment with the at least one support system (5) and is supported laterally or horizontally with the support legs (4), and wherein material of the nuclear facility is removed or dismantled by means of the at least one attachment, in particular by means of the at least one milling device (7). Method according to claim 14, wherein - in particular before inserting the robot (1) into the working environment - a digital, three-dimensional model of the working environment is generated, wherein the generation of the digital model is preferably carried out by 3D scanning and wherein the digital model of the working environment is used in particular to control the robot (1) and/or the at least one attachment, preferably at least for controlling the milling device (7). Method according to one of claims 14 or 15, wherein the working environment is the biological shield (16) and/or the support shield of a reactor pressure vessel of a nuclear power plant and wherein in particular at least the reinforced concrete structure of the biological shield (16) and/or the support shield of the reactor pressure vessel is removed or dismantled by the robot (1) at least partially, preferably up to a predetermined residual layer thickness, preferably completely or substantially completely. Method according to one of claims 14 to 16, wherein the removed or mined material is sucked away by means of at least one suction device, in particular by means of at least one pneumatic suction device, and is preferably sucked away during operation of the attachment, in particular of the milling device (7). Method according to one of claims 14 to 17, wherein the robot (1) is vertically adjusted or height-adjusted by means of the at least one support system (5), in particular is moved vertically, and in this way is moved away from the ground of the working environment and/or is moved towards the ground of the working environment.