BOA II: Asbestos Pipe-Insulation Removal Robot System. Innovative Technology Summary Report.

摘要

The objective of this task is to develop and demonstrate a mechanical, asbestos-removal system that can be remotely operated without a containment area. The technology, known as BOA, consists of a pipe-crawler removal head and a boom vehicle system with dual robots. BOA's removal head can be remotely placed on the outside of the pipe and can crawl along the pipe, removing lagging and insulation. The lagging and insulation is cut using a hybrid endmill water-jet cutter and then diced into 2-inch cube sections of ACM. These ACM sections are then removed from the pipe using a set of blasting fan- spray nozzles, vacuumed off through a vacuum hose, and bagged. Careful attention to vacuum and entrapment air flow ensures that the system can operate without a containment area while meeting local and federal standards for fiber count.