Autonomous surface treatment of a radioactively contaminated component

Abstract

The invention relates to a method and the corresponding device (1) for autonomously treating a radioactively contaminated component (2) by a water jet treatment with a water jet (22) of water comprising a cleaning fluid which autonomously detects the component (2) via a laser scanning unit (8) and, on the basis of the obtained surface data, generates a component data record which does not include the surface regions (21) covered by clamping tools (20) clamping the component (2) to a component receptacle (5). On the basis of this component data record, an actuation path (25) for the tool head (4) with the water jet nozzle unit (7) is defined, in order to treat the surface (19) of the component (2), in particular in order to clean it and / or remove a coating from it. Manual intervention on the part of a worker can hereby be limited to the shortest interventions possible, since a radiation dose of the worker and the time for which the worker has to wear personal protective equipment can be reduced.

Description

[0001] Autonomous surface treatment of a radioactively contaminated component

[0002] The present invention relates to a method for treating a surface of a radioactively contaminated component, in which the surface of the component is measured autonomously so that components of any shape can be subjected to treatment without the need for manual treatment.

[0003] In nuclear facilities, radiological surface contamination of components can occur. This can lead to radiological contamination on the surface on the one hand and to contamination of a near-surface layer of the component on the other, for example through the incorporation of the radiological contamination in a paint layer applied to the surface or through the formation of an oxide layer on the surface of the component. In particular, during dismantling of the relevant components or of the entire nuclear facility, the component must be treated, for example by water jet treatment or cleaning. Here, the surface is subjected to a high-pressure water jet and thus the surface is treated, in particular cleaned and / or removed. Since there are currently no reliable automated processes for this, this treatment is often carried out manually.For this purpose, the treatment is carried out manually by a person wearing protective equipment. This involves considerable stress and potentially even hazards for the person. At the same time, the resulting water mist often obscures the view of the component, so that the cleaning performance is often inadequate and subsequent cleaning is necessary. Furthermore, the person is fundamentally exposed to a potential radiation dose, which should be kept to a minimum.

[0004] Based on this, the present invention is based on the object of at least partially overcoming the disadvantages known from the prior art.

[0005] The problem is solved with the features of the independent claim. The dependent claims are directed to advantageous further training.

[0006] The method according to the invention for treating a surface of a component comprises the following steps: a) clamping the radioactively contaminated component with at least one clamping element on a component holder; b) autonomously detecting the surface of the clamped component with a laser scanning unit by moving a robot arm relative to the component, which robot arm comprises a tool head with the laser scanning unit, to generate a surface data set of the clamped component comprising surface data of the component and of the at least one clamping element; c) generating a three-dimensional component data set of the clamped component from the surface data set, wherein the surface data of the at least one clamping element used in step a) are not included in the component data set;d) Autonomously determining an actuation path for a water jet nozzle unit attached to a tool head of the robot arm, having at least one water jet nozzle, wherein the actuation path comprises a three-dimensional movement path, associated location-dependent orientation data of the tool head, an associated location-dependent movement speed of the robot arm, and location-dependent operating parameters of the water jet nozzle unit; and e) Autonomously moving the robot arm and the tool head and actuating the water jet nozzle unit according to the actuation path, wherein the component remains connected to the component holder during steps b) to e), and wherein in step d) the actuation path is determined based on at least the following parameters: the component data set of the clamped component and an effective parameter of a water jet generated on the surface of the component by the water jet nozzle unit with the operating parameters.

[0007] Steps a) to e) are arranged in chronological order, i.e. there is always a sequence of steps a), b), c), d) and e). After the component has been clamped in step a), the component is referred to as the clamped component. The component can have any shape and / or size, although it must be guaranteed that the robot arm can be moved in such a way that the surface of the component can be reached with the corresponding water jet in step e). To date, it has proven difficult to treat any components, which can vary in shape and size, automatically or autonomously. In particular, for any components that can differ fundamentally in shape and geometry, it is generally not possible to use historical data when determining the movement path of a treatment tool such as a water jet nozzle, as this data does not exist or the process is only suitable for similar oridentical components would be possible. Alternatively, manual treatment had to be resorted to, which is often disadvantageous, particularly if the component is radioactively contaminated, as the personnel carrying out the manual treatment can then accumulate a radiation dose. When manually treating radioactively contaminated components, protective equipment must also be worn that complies with radiation protection regulations and, where applicable, other occupational health and safety requirements, which further complicates the work for the personnel. Furthermore, the spray mist created during water jet treatment makes it difficult to get a close look at the component, so that the treatment is often insufficient and re-treatment is necessary.

[0008] The water jet nozzle unit comprises at least one water jet nozzle from which a cleaning fluid comprising water can be discharged during operation. In step b), the surface of the component is autonomously scanned using laser scanning technology. A laser scanning unit is used here, which scans the surface line-by-line with a laser beam, and the laser radiation reflected by the component is captured by a corresponding camera in the laser scanning unit. The laser scanning unit is moved by a robot arm, which in particular has six axes of movement. A surface data set of the component is generated from the data collected by the laser scanning unit. This data set comprises at least the visible surface of the component and the visible surface of the at least one clamping element. It does not include the invisible surface of the component, which is, for example, covered by a clamping element or which rests on the surface of the component holder.The term "autonomous detection" is understood to mean that no user intervention is necessary during the detection process, but rather that the entire visible surface of the component is automatically detected.

[0009] In step c), a three-dimensional component data set of the clamped component is generated from the surface data set, whereby the surface data of the at least one clamping element used in step a) is not included in the component data set. The component data set represents a three-dimensional representation of the visible clamped component. When creating the component data set, the data of the at least one clamping element is eliminated. Thus, the component data set represents a representation of the clamped component, which includes the (visible) surface areas accessible to treatment.

[0010] In step d), an actuation path for a water jet nozzle unit attached to the robot arm is defined. The actuation path includes a three-dimensional movement path executable by the robot arm, associated location-dependent orientation data of the tool head, a location-dependent movement speed, and location-dependent operating parameters of the water jet nozzle unit. The actuation path is determined autonomously, i.e., without the need for user intervention, preferably using an analytical method and without the use of so-called artificial intelligence.

[0011] In step e), the robot arm with the associated tool head is moved autonomously and the water jet nozzle unit is automatically actuated according to the location-dependent operating parameters, each corresponding to the actuation path.

[0012] By connecting the component to the component holder during steps b) to e), it is ensured that between the acquisition of the surface data in step b) and the actual treatment of the surface in step e), there is no change in the position and / or position of the component or of the at least one clamping element, and that the actuation path is clearly assigned to the component. In addition, movement of the component during treatment in step e) is prevented. By connecting the component to the component holder during steps b) to e), the use of historical data obtained based on other components is simultaneously made superfluous, so that this is advantageously dispensed with. Steps b) to e) are intended to ensure the most efficient treatment of the component possible.Preferably, a complete treatment of the visible surface of the component should be achieved in a single pass of the water jet nozzle unit, making further or repeated treatment of the surface unnecessary. To ensure this, in step d), the actuation path is determined based on at least the following parameters: the component data set of the clamped component, and an effective parameter of a water jet generated on the surface of the component by the water jet nozzle unit with the operating parameters.

[0013] The actuation path is preferably determined based on both of the aforementioned parameters. The operating parameters are understood to include, in particular, a distance of the water jet nozzle unit or one or more water jet nozzles of the water jet nozzle unit from the component surface, a movement speed of the water jet nozzle unit relative to the component surface and an angle of attack of the water jet nozzle unit, a volume flow of the cleaning agent through the at least one water jet nozzle and preferably an operating pressure of the water jet nozzle unit, a jet angle (or cone angle) of the water jet nozzle unit and / or a speed of a rotatable water jet nozzle unit. One effective parameter is the energy input per surface. The angle of attack is defined as an inclination of the water jet unit relative to the normal of the component surface at the point of impact of the water jet.The term water jet is generally understood to mean a jet of a cleaning agent that contains water.

[0014] Preferably, step d) is carried out in such a way that the actuation path is determined based on a target of the effective parameter, for example an effective parameter that fluctuates as only within small limits as possible, for example an energy input per surface that fluctuates by a maximum of 10% around a mean value, so that the effective parameter remains within the stated limits. This can be achieved, for example, by appropriate parameter adjustment, for example a curve adjustment (a so-called fit) and / or by appropriate simulations. The actuation path is determined in particular such that the entire surface of the component that can be reached with the treatment is treated, i.e. in particular excluding the surface areas that are covered by the at least one clamping element or that rest on the component holder.

[0015] Preferably, in step d) it is also taken into account if a treatment of the component surface has already taken place beforehand, in particular if the component has been re-clamped in order to now reach parts of the surface that were previously covered, for example, by clamping elements, and / or merely to carry out subsequent cleaning if the surface treatment was not sufficient.

[0016] During the treatment, in particular, surface cleaning and / or decoating takes place, for example, films of fluids such as oils or similar are removed, and at the same time, oxide layers and / or paint layers are preferably removed from the surface.

[0017] The inventive method described here allows for autonomous treatment of the surface of any component, essentially without the need for human intervention after clamping the component in step a). This is particularly advantageous when a large number of components need to be treated and to effectively reduce the user's radiation exposure.

[0018] Preferably, the component holder is rotatable about a rotational axis, and a rotational movement of the component holder is taken into account when determining the actuation path in steps d) and e). Here, the rotational axis of the component holder serves as a seventh movement axis in addition to the six movement axes of the robot arm. Preferably, the component holder is designed as a table with a rotatable clamping plate. The clamping plate is preferably removable and connectable to a motor or motor unit via a zero-point clamping system.

[0019] Preferably, the following steps are carried out after step e): f) releasing the at least one clamping element; g) re-clamping the component on the component holder with at least one clamping element, wherein at least one of the positions of a clamping element relative to the component differs from the position of a clamping element relative to the component selected in step a); h) automatically detecting the surface of the clamped component using a laser scanning technique to generate a modified surface data set of the clamped component; i) carrying out steps d) and e); wherein during step d), the modified surface data set and, if applicable, a previous actuation path are taken into account when determining the actuation path. Step h) here preferably comprises a type of rough scan of the component in order to be able to simply supplement data in the three-dimensional component set, if necessary.A coarse scan is understood to mean data acquisition in which the spatial resolution and, if applicable, the signal resolution of the signal acquired by the camera is reduced compared to the resolution used in step b).

[0020] This means that after the component has been reclamped, the surfaces that were previously covered by at least one clamping element can also be treated without any further manual intervention being necessary other than reclamping the component.

[0021] Preferably, during step g), the position of the component relative to the component holder is changed, and prior to step i), the change in the component's position is detected. Detection preferably involves detection by the laser scanning unit. Alternative or additional approaches are possible. Thus, even if the position of the component on the component holder changes, an actuation path can be autonomously determined, which, in particular, also allows for cleaning surfaces that were previously resting on the component holder or that were covered by a clamping element.

[0022] Preferably, a previous actuation path is taken into account when redetermining the actuation path. This is particularly advantageous if the component has been re-clamped (step g). This allows the actuation path to be determined in such a way that a previous treatment process is taken into account, thus reducing the time required for treatment.

[0023] Preferably, the operating parameters of the water jet nozzle unit include at least one of the following parameters:

[0024] A) the water pressure applied to the water jet nozzle unit;

[0025] B) an angle of attack of the water jet nozzle unit relative to the treated surface of the component;

[0026] C) a feed speed of the water jet nozzle unit;

[0027] D) a jet cone characteristic of the water jet nozzle unit;

[0028] E) a distance of the at least one water jet nozzle of the water jet nozzle unit relative to the treated surface;

[0029] F) a rotation speed of the water jet nozzle unit; and

[0030] G) a volume flow of cleaning fluid to be delivered by the water jet nozzle unit

[0031] The water pressure applied to the water jet nozzle unit and the distance of the at least one water jet nozzle of the water jet nozzle unit, in particular the outlet opening of the respective water jet nozzle from the surface, as well as the volume flow of cleaning fluid discharged through the at least one water jet nozzle of the water jet nozzle unit, directly influence the impulse that the water jet exerts on the component surface when it impacts the component. This also applies to the jet cone characteristic, which is understood in particular as a cone angle of the water jet generated by the water jet nozzle unit, since this changes the impact area of ​​the water jet while maintaining a constant distance from the component surface. The water jet nozzle unit can allow a change in the cone angle and the jet cone characteristic, or these are predetermined by the design.The angle of attack of the water jet nozzle unit allows the direction of the pulse input into the surface to be defined. With a rotatable water jet nozzle unit, the direction can be varied by rotation and controlled by the rotation speed.

[0032] Preferably, the water jet nozzle unit is subjected to a cleaning fluid comprising water at a pressure of at least 500 bar. Thus, the water jet nozzle unit is used, in particular, to a high-pressure water jet process or an ultra-high-pressure (UHD) water jet process. This can also achieve surface decoating. The water pressure here is preferably at least 1,500 bar, in particular up to 3,000 bar, 4,000 bar, or even 6,000 bar. The pressure is adapted in particular to the necessary treatment, i.e., depending in particular on whether the surface of the component is to be cleaned and, if so, of which substances, or whether decoating of an oxide layer and / or a paint layer is to be carried out.

[0033] In this context, it is further preferred that the cleaning fluid comprises at least one additive selected from a list comprising at least one surfactant, at least one acid, at least one base, at least one organic solvent and at least one blasting medium. By using at least one surfactant, the cleaning of the surface of liquids that do not normally mix with water can be improved. This applies, for example, to the cleaning of oils, etc. The addition of an acid such as hydrochloric acid or a base such as sodium hydroxide is preferably carried out depending on the surface of the component and the substances to be removed from the surface. For example, an acid is preferably used if limescale deposits are to be removed. If, for example, organic substances are to be removed, a base or alkali is preferably added.A blasting media is defined here as an abrasive blasting medium comprising particles that impact the surface with their own momentum. Glass beads, ceramic spheres, minerals, and / or stainless steel particles are preferred for this purpose. An organic solvent such as alcohol, acetone, and butyl glycol can also be used, particularly for cleaning the surface of the component from greasy contaminants and / or paint.

[0034] Preferably, in step d), a subset to be cleaned is manually selected from the component data set. This advantageously enables manually selectable subsequent cleaning of a subsection of the component's surface.

[0035] Preferably, monitoring is performed to determine whether the water jet nozzle unit collides with the component, and if a collision is detected, treatment is aborted. This can be achieved, for example, by a contact switch on the water jet nozzle unit that provides a corresponding signal when the water jet nozzle unit comes into contact with the component, or by monitoring the behavior of the individual axes of the robot arm and / or the tool head, since resistance can be detected here.

[0036] According to a further aspect of the invention, a device for automatically cleaning a component is proposed, comprising

[0037] ■ a robot arm with six axes of movement for moving a tool head and

[0038] ■ a component holder which is rotatable about a rotation axis, wherein the tool head comprises a water jet nozzle unit with at least one water jet nozzle and a laser scanning unit, wherein a control unit is formed which is controllably connectable to the laser scanning unit and the water jet nozzle unit, wherein the control unit is adapted such that it can carry out the steps of the method as described here.

[0039] The laser scanning unit comprises, in particular, a laser source that generates a linear laser beam on the component surface and a camera that captures the resulting images. The laser beam is preferably moved across the surface of the component to generate a complete surface dataset.

[0040] The tool head preferably further comprises an openable and closable cover with which the laser scanning unit can be covered. This allows the laser scanning unit to be protected from the cleaning fluid jet or water jet emerging from the water jet nozzle unit, particles present in the environment, and / or water mist. The cover is preferably designed to tightly cover the laser scanning unit even at high cleaning agent jet pressures, thus reliably protecting the laser unit even at very high pressures of up to 6,000 bar.

[0041] The robot arm preferably further comprises corresponding lines, via which, in particular, the water jet nozzle unit can be supplied with cleaning agent, compressed air can be supplied to the tool head, a power supply can be established, and control lines for data transfer. The tool head can preferably be pressurized internally with a gas, in particular air, whose pressure is above ambient pressure. This advantageously prevents the penetration of dirt and water or cleaning fluid from the outside into the tool head.

[0042] The water jet nozzle unit is preferably connected to the tool head via a collision protection device. The collision protection device preferably comprises at least one spring element and / or, in particular, additionally a contact switch. By forming a mechanical collision protection device, in particular comprising at least one spring element, each preferably comprising at least one compression spring, damage to the water jet nozzle unit can be prevented. The contact switch can preferably issue a corresponding collision warning, and the treatment is preferably aborted. Alternatively, monitoring can be implemented by monitoring the drives of the robot arm and / or tool head, which detects resistance counteracting the movement. This can then be used as a collision warning to abort the treatment if necessary.

[0043] As a precaution, it should be noted that the numerals used here ("first", "second", ...) primarily serve (only) to distinguish between several similar objects, quantities, or processes, and therefore do not necessarily specify any interdependence and / or sequence of these objects, quantities, or processes. Should a interdependence and / or sequence be required, this is explicitly stated here or will be obvious to the person skilled in the art upon studying the specifically described embodiment.

[0044] The invention and the technical environment are explained in more detail below with reference to the figures. It should be noted that the invention is not intended to be limited by the exemplary embodiments shown. In particular, unless explicitly stated otherwise, it is also possible to extract partial aspects of the facts explained in the figures and combine them with other components and findings from the present description and / or figures. In particular, it should be noted that the figures and in particular the illustrated proportions are only schematic. The same reference numerals denote the same objects, so that explanations from other figures can be used as a supplement if necessary. They show:

[0045] Fig. 1 shows a schematic view of a device for treating the surface of a component;

[0046] Fig. 2 a detail of a clamped component;

[0047] Fig. 3 shows a schematic example of a movement path;

[0048] Fig. 4 and 5 are schematic representations of a water jet nozzle unit;.

[0049] Fig. 6 is a schematic plan view of a water jet nozzle unit.

[0050] Fig. 1 schematically shows a device 1 for the automatic treatment of a radioactively contaminated component 2, for example from the dismantling of a nuclear facility, comprising a robot arm 3 with six axes of movement for moving a tool head 4 and a component holder 5 that is rotatable about a rotation axis 6. The component 2 can have any shape and size. Preferably, the size of the component 2 is adapted to the radius of movement of the robot arm 3. The component 2 is treated, in particular cleaned and / or stripped, by a high-pressure water jet treatment. In the context of this document, a high-pressure water jet treatment is understood to mean the treatment of the component 2 with a jet of a cleaning fluid comprising water, which is discharged from the water jet nozzle unit at a pressure of at least 500 bar, preferably at least 1,000 bar or even at least 1,500 bar or even at least 2,500 bar.In this way, for example, particles or fluids adhering to the surface of the component 2 are removed and / or a coating is removed from the surface of the component 2. In particular, a paint layer and / or an oxide layer can be removed from the surface of the component 2 by the treatment. For this purpose, the tool head 4 comprises a water jet nozzle unit 7 and a laser scanning unit 8. The water jet nozzle unit 7 comprises one or more water jet nozzles; an example of a water jet nozzle unit 7 is shown in Fig. 5. The laser scanning unit 8 can be automatically opened and closed by a cover 9 in order to protect the laser scanning unit 8, for example, from water or particles loosened from the surface of the component by the water when closed, or to enable use of the laser scanning unit 8 in the open state.

[0051] The component holder 5 is designed as a clamping plate 10, which is rotated by a motor relative to a base unit 11 about the axis of rotation 6. The corresponding motor 12 is integrated into the base unit 11. The clamping plate 10 has a plurality of grooves 13, in particular T-slots and threaded holes 37, which are only partially provided with reference numerals for the sake of clarity, in which clamping elements (not shown in Fig. 1) can be fixed, with which the component 2 can be clamped to the component holder 5. By clamping the component 2, it is firmly connected to the component holder 5. A rotation of the clamping plate 10 of the component holder 5 about the axis of rotation 6 thus also causes the component 2 to rotate about the axis of rotation 6. Clamping with the clamping elements also ensures that the component 2 cannot shift during the water jet treatment.

[0052] The robot arm 3 represents a six-axis industrial robot with six driven axes for moving and aligning the tool head. The rotation axis 6 of the component holder 5 thus represents the seventh driven axis of the device 1.

[0053] The device 1 further comprises a control unit 14, which can be connected to the robot arm 3 via control lines 15 and, via the latter, to the tool head 7 and the motor 12. A controlling connection is understood to mean that the control unit 14 can control the robot arm 3, the tool head 4, and the motor 12 in order to achieve a specific relative movement between the tool head 4 and the component 2 and a corresponding actuation of the water jet nozzle unit 7. The control lines 15 can be implemented either via a cable and / or fiber connection or via electromagnetic waves. In addition to control commands for the robot arm 3, the tool head 4, and / or the motor 12, data such as image data, surface data, component data sets, and / or operating data of the tool head 4 can also be transmitted via the control lines 15 between the tool head 4, the robot arm 3, and / or the motor 12, on the one hand, and the control unit 14, on the other.

[0054] Furthermore, in addition to the drives for the driven axes, the robot arm comprises lines for supplying the drives of the robot arm 3 and the tool head 4 with energy, the water jet nozzle unit 7, for example, with pressurized water or a cleaning fluid comprising water, for data exchange, etc. These lines are guided in a guide device 16, which ensures that the lines are not damaged or impaired during a movement of the robot arm 3 and / or tool head 4. Furthermore, the tool head 4 has a cleaning agent line 17, via which the water jet nozzle unit 7 is supplied with pressurized cleaning fluid. The cleaning agent line 17 is guided from the guide device 16 to the tool head 4.The interior of the tool head 4 is supplied with air via a compressed air line (not shown), which has an overpressure compared to the ambient pressure to prevent the penetration of contaminants into the tool head 4. The guide device 16 is attached to a strain relief 18 on the robot arm 3 via brackets 39.

[0055] Considering the method described above, Fig. 1 shows the situation after step a), i.e., after the clamping of the component 2. After the clamping of the component 2, the first step b) involves autonomously capturing a visible surface 19 of the clamped component 2 with the laser scanning unit 8 by moving the tool head 4 of the robot arm 3 relative to the component 2 to generate a surface data set of the clamped component 2. The robot arm 3 is moved in such a way that the entire visible surface 19 of the component 2, including the visible surface of the clamping element(s), is captured. This does not include the surface covered by the at least one clamping element and the surface of the component 2 that rests on the component holder 5 (see Fig. 2).

[0056] In step c), a three-dimensional component data set of the clamped component 2 is autonomously generated from the surface data set, which does not include the surfaces of the clamping element(s). The three-dimensional component data set thus represents the surface of component 2 to be treated.

[0057] Subsequently, in step d), an actuation path for the water jet nozzle unit 7 attached to the robot arm 3 and the tool head 4 is autonomously determined. The actuation path comprises a three-dimensional movement path of the robot arm 3. This three-dimensional movement path determines a locus of the position of the tool head 4. The actuation path further comprises three-dimensional location-dependent orientation data of the tool head 4, i.e., dependent on the aforementioned locus, which describe the orientation of the tool head 4 in three-dimensional space. Furthermore, the actuation path comprises a location-dependent movement speed of the tool head 4, i.e., dependent on the aforementioned locus (see Fig. 3), and location-dependent operating parameters of the water jet nozzle unit 7, i.e., dependent on the aforementioned locus.Subsequently, in step e), the robot arm 3 is automatically moved and the water jet nozzles of the water jet nozzle unit 7 are actuated according to the actuation path, so that the radioactively contaminated component 2 is treated.

[0058] During steps b) to e), the component 2 remains connected to the component holder 5 so that the position of the component 2 relative to the component holder 5 remains constant.

[0059] Fig. 2 schematically shows a situation in step e). The component 2 is clamped to the clamping plate 10 by two clamping elements 20, which are fixed in grooves 13 of the clamping plate 10 of the component holder 5. The clamping elements 20 cover surface areas 21 that are inaccessible for treatment with a water jet 22 of cleaning fluid from the water jet nozzle unit 7. For the rest, reference is made to the above description of Fig. 1. Fig. 3 further shows a situation in step e), which shows, in addition to the component 2, the already treated area 23 and a cleaning path 24 of the water jet 22 on the surface 19 of the component 2 to be cleaned. An actuation path 25 is shown here as an example, which, however, only represents the location component, but not the location-dependent orientation data of the tool head 4, the location-dependent movement speed of the robot arm 3 and the location-dependent operating parameters of the water jet nozzle unit 7.Furthermore, Fig. 3 shows additional covered surface areas 26, which here are due to the contact of the component with the clamping plate 10, i.e., the component holder 5. For further details, please refer to the above description of Figures 1 and 2.

[0060] 4 and 5 show two schematic views of a water jet nozzle unit 7 in operation, which will be described together below unless explicitly shown otherwise. Fig. 4 shows a schematic image of the water jet nozzle unit 7 in operation. A water jet 22 consisting of cleaning fluid comprising water emerges from a water jet nozzle 27, said water jet having a cone angle 28. The water jet 22 has a longitudinal axis 29. The water jet 22 strikes the surface 19 of the component 2 in an impact region 30. This is explained in more detail with reference to Fig. 5. The water jet nozzle unit 7 is aligned at an angle of attack 31 to the surface 19. The angle of attack 31 is defined as the angle between the longitudinal axis 29 and a surface normal 32 of the surface 19 of the component 2 in the impact region 30. In the present example, the surface normal 32 is identical for the entire surface 38.Two surface normals 32 are shown as examples. The water jet nozzle unit 7 has a distance 33 (see Fig. 5) from the surface 19 of the component 2 in the impact area 30.

[0061] Fig. 5 further shows that the water jet nozzle unit 7 is connected to the tool head 4 via a collision protection device 34. The collision protection device 34 comprises, in addition to one or more spring elements 35 acting as shock absorbers, which preferably comprise compression springs, preferably a proximity switch (not shown here), which, when the collision protection device 34 is actuated, emits a signal that leads to termination of the treatment. Alternatively, collision monitoring can be carried out by monitoring the driven axes of the robot arm 3 and / or the tool head 4, which provide feedback in the event of a collision between the tool head 4 and the component 2 by increasing the axial torque of the affected axis. In this way, damage to the tool head 4 and / or the component 2 can be avoided. For the rest, reference is made to the above description of Figures 1 to 3. Fig.Figure 6 shows a very schematic example of a water jet nozzle unit 7 comprising three water jet nozzles 27 surrounded and protected by a protective tube 36. The cones of the individual water jets of the individual water jet nozzles 27 overlap to form the water jet 22. The water jet nozzle unit is preferably designed to be rotatable about the longitudinal axis 29.

[0062] The method presented here and the corresponding device 1 for the autonomous treatment of a radioactively contaminated component 2 by water jet treatment with a water jet 22 consisting of a cleaning fluid comprising water autonomously detects the component 2 via a laser scanning unit 8 and generates a component data set from the acquired surface data, which does not include the surface areas 21 covered by clamping tools 20 with which the component 2 is clamped to a component holder 5. Based on this component data set, an actuation path 25 for the tool head 4 with the water jet nozzle unit 7 is defined in order to treat the surface 19 of the component 2, in particular to clean and / or strip the coating. This makes it possible to limit manual intervention by personnel to the shortest possible interventions, since this can reduce the radiation dose of the personnel and the time during which the personnel must wear protective equipment.

[0063] List of reference symbols

[0064] 1 device for automatic cleaning of components

[0065] 2 component

[0066] 3 Robot arm

[0067] 4 tool head

[0068] 5 Component holder

[0069] 6 Rotation axis

[0070] 7 Water jet nozzle unit

[0071] 8 Laser scanning unit

[0072] 9 Cover

[0073] 10 clamping plate

[0074] 11 Base unit

[0075] 12 Engine

[0076] 13 grooves

[0077] 14 Control unit

[0078] 15 Control line

[0079] 16 Guide device

[0080] 17 Detergent line

[0081] 18 Strain relief

[0082] 19 Surface

[0083] 20 clamping element

[0084] 21 Covered surface area

[0085] 22 Cleaning fluid jet

[0086] 23 Treated area

[0087] 24 Treatment pathway

[0088] 25 Actuation travel

[0089] 26 Covered surface area

[0090] 27 Water jet nozzle

[0091] 28 cone angles

[0092] 29 Longitudinal axis

[0093] 30 Impact area 31 Angle of attack

[0094] 32 surface normals

[0095] 33 distance

[0096] 34 Collision protection 35 Spring element

[0097] 36 protective tube

[0098] 37 threaded hole

[0099] 38 area

[0100] 39 Bracket

Claims

Claims Method for treating a surface (19) of a radioactively contaminated Component (2), comprising the following steps: a) Clamping the radioactively contaminated component (2) with at least one clamping element (20) on a component fixture (5); b) Autonomously capturing the surface (19) of the clamped component (2) with a laser scanning unit (8) by moving a robot arm (3) relative to the component (2), which includes a tool head (4) with the laser scanning unit (8), to generate a surface data set of the clamped component (2) comprising surface data of the component (2) and of the at least one clamping element (20); c) Generating a three-dimensional component data set of the clamped component (2) from the surface data set, wherein the surface data of the at least one clamping element (20) used in step a) are not included in the component data set;d) Autonomously defining an actuation path (25) for a water jet nozzle unit (7) with at least one water jet nozzle (27) attached to a tool head (4) of the robot arm (3), wherein the actuation path (25) comprises a three-dimensional movement path, associated location-dependent orientation data of the tool head (4), an associated location-dependent movement speed of the robot arm (3), and location-dependent operating parameters of the water jet nozzle unit (7); and e) Autonomously moving the robot arm (3) and the tool head (4) and actuating the water jet nozzle unit (7) according to the actuation path (25), wherein during steps b) to e) the component (2) remains connected to the component holder (5), and wherein in step d) the actuation path (25) is defined based on at least the following parameters: the component data set of the clamped component (2) and; a working parameter of a water jet (22) generated on the surface (19) of the component (2) by the water jet nozzle unit (7) with the operating parameters. Method according to claim 1, wherein the component holder (5) is rotatable about a rotation axis (6) and a rotational movement of the component holder (6) is taken into account when determining the actuation path (25) in step d) and in step e).A method according to any of the preceding claims, wherein after step e) the following steps are performed: f) releasing the at least one clamping element (20); g) re-clamping the component (2) on the component holder (5) with at least one clamping element (20), wherein at least one of the positions of a clamping element (20) relative to the component (2) differs from the position of a clamping element (20) relative to the component (2) selected in step a); h) automatically capturing the surface (19) of the clamped component (2) using laser scanning technology to generate a modified surface data set of the clamped component and the at least one clamping element (20); i) performing steps d) and e); wherein during step d) the modified surface data set is taken into account when determining the actuation path (25).A method according to claim 3, wherein during step g) the position of the component (2) relative to the component holder (5) is changed and before step i) a detection of the change in position of the component (2) is carried out. A method according to claim 3 or 4, wherein a previous actuation path is taken into account when the actuation path (25) is re-determined. A method according to any of the preceding claims, wherein the operating parameters of the water jet nozzle unit (7) comprise at least one of the following parameters: A) the water pressure applied to the water jet nozzle unit (7); B) an angle of attack (31) of the water jet nozzle unit (7) relative to the treated surface (19) of the component (2); C) a feed rate of the water jet nozzle unit (7); D) a jet cone characteristic of the water jet nozzle unit (7); E) a distance of the at least one water jet nozzle (27) of the water jet nozzle unit (7) relative to the treated surface (19); F) a rotational speed of the water jet nozzle unit (7); and G) a volume flow of cleaning fluid to be delivered by the water jet nozzle unit (7). A method according to any one of the preceding claims, wherein the water jet nozzle unit (7) is supplied with a cleaning fluid comprising water at a pressure of at least 500 bar. A method according to claim 7, wherein the cleaning fluid comprises at least one additive selected from a list comprising at least one surfactant, at least one acid, at least one base, at least one organic solvent, and at least one abrasive. A method according to any one of the preceding claims, wherein in step d) a subset to be cleaned is manually selected from the component data set. A method according to any one of the preceding claims, wherein it is monitored whether the water jet nozzle unit (7) collides with the component (2) and, if a collision is detected, the treatment is terminated.Device (1) for automatically treating a radioactively contaminated component (2), comprising. ■ a robot arm (3) with six axes of movement for moving a tool head (4) and ■ a component holder (5) rotatable about a rotational axis (6), wherein the tool head (4) comprises a water jet nozzle unit (7) with at least one water jet nozzle (27) and a laser scan unit (8), wherein a control unit (14) is formed which can be connected to the laser scan unit (8) and the water jet nozzle unit (7) for control purposes, wherein the control unit (14) is adapted to perform the steps of the method according to one of the preceding claims. Device (1) according to claim 10, wherein the tool head (4) further comprises an openable and closable cover (9) with which the laser scanning unit (8) can be covered. Device (1) according to claim 10 or 11, wherein the water jet nozzle unit (7) is connected to the tool head (4) via a collision protection device (34). Device (1) according to claim 13, wherein the collision protection device (24) comprises at least one spring element (35).

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