Cleaning device and method suitable for EPR type steam generator and control system

Abstract

The invention provides an EPR type steam generator cleaning device and method and a control system.The cleaning device comprises a first guide rail and a second guide rail, and the first guide rail and the second guide rail are arranged on the cold side and the hot side of a steam generator partition plate respectively; two ends of the first guide rail and the second guide rail are respectively mounted on hand holes in two end parts of the steam generator; the driving mechanisms are respectively mounted on the two hand holes; the two flushing robots are hung on the first guide rail and the second guide rail correspondingly, the two ends of each flushing robot are connected with a transmission belt to be driven by a driving mechanism, and the flushing robots clean the cold-side heat transfer pipe bundle and the hot-side heat transfer pipe bundle correspondingly at the same time. According to the cleaning device and method, the problem that existing single-side cleaning efficiency is low is solved, the washing gun bodies are installed on the cold side and the hot side of the steam generator at the same time to form a closed-loop linkage loop, the cold side and the hot side of the steam generator are subjected to full-automatic cleaning at the same time, and the cleaning efficiency of the steam generator is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of secondary side cleaning of steam generators, and in particular to a cleaning device, method and control system suitable for EPR stack type steam generators. Background Art

[0002] The steam generator of a nuclear power plant is the pressure-bearing boundary between the primary and secondary circuits. Most of the corrosive deposits generated during its operation are accumulated on the surface of the secondary tube sheet. If not treated for a long time, the heat transfer tubes of the steam generator will suffer from stress corrosion or even rupture, posing a threat to nuclear safety. Therefore, during each shutdown and refueling maintenance, the nuclear power plant needs to hydraulically clean the heat transfer tube bundle above the steam generator tube sheet to reduce the impact of corrosive deposits.

[0003] The existing EPR reactor-type nuclear power plant is an imported pressurized water reactor nuclear power plant. Its steam generator structure is very different from the existing CPR1000 reactor type. In particular, a partition is added between the cold and hot sides of the steam generator, so that the traditional cleaning method can only clean one side (cold side or hot side) at a time, which greatly limits the cleaning efficiency. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a cleaning device, method and control system suitable for an EPR stack type steam generator, so as to solve the problem that only one side of the EPR stack type steam generator can be cleaned at a time during cleaning in the prior art.

[0005] To achieve the above-mentioned purpose and other related purposes, the present invention provides a cleaning device suitable for an EPR reactor type steam generator, comprising: a first guide rail and a second guide rail, the first guide rail and the second guide rail are respectively arranged on the cold side and the hot side of the steam generator partition, and the two ends of the first guide rail and the second guide rail are respectively installed on the hand holes at the two ends of the steam generator; a driving mechanism, the driving mechanism is respectively installed on the two hand holes; and a flushing robot, the two flushing robots are respectively suspended on the first guide rail and the second guide rail, the two ends are connected to the transmission belt and driven by the driving mechanism, and the heat transfer tube bundles on the cold side and the hot side are cleaned respectively at the same time.

[0006] In one embodiment of the present invention, the flushing robot includes: a robot body, a flushing gun body, a camera and a distance sensor, wherein the flushing gun body, the camera and the distance sensor are all installed on the robot body, the camera is used to monitor the water output of the flushing gun body and the cleaning of the heat transfer tube bundle, and the distance sensor is used to control the start of flushing when confirming that the flushing gun body is facing the heat transfer tube bundle; a transmission belt, a drive motor and a transmission wheel, wherein the transmission wheel is installed at the power output end of the drive motor, the transmission belt passes through the transmission wheel, and the robot body is installed at both ends of the transmission belt to drive the two flushing gun bodies to move relative to each other and perform up and down sweeping and flushing of the heat transfer tube bundle.

[0007] The present invention also provides a cleaning method for the aforementioned EPR steam generator cleaning device, comprising the following steps:

[0008] Monitor the cleaning status of flushing gun bodies respectively arranged in the cold side and the hot side of the steam generator;

[0009] Based on the cleaning state of the flushing gun body, the flushing gun body is controlled to clean the heat transfer tube bundles on the cold side and the hot side at the same time.

[0010] In one embodiment of the present invention, monitoring the cleaning status of flushing gun bodies respectively arranged on the cold side and the hot side of the steam generator includes: monitoring the position information of the flushing gun body, and monitoring the swing status and water discharge status information of the flushing gun body.

[0011] In one embodiment of the present invention, monitoring the position information of the flushing gun body includes: collecting the moving distance of the flushing gun body through a distance sensor, determining the position information of the flushing gun body, and judging whether the position information of the flushing gun body corresponds to between two adjacent heat transfer tube bundles. If not, controlling to stop the flushing action of the flushing gun body; if so, controlling to start the flushing action of the flushing gun body.

[0012] In one embodiment of the present invention, monitoring the swing state and water outlet state information of the flushing gun body includes: simultaneously monitoring the swing state information and flushing water outlet information of the flushing gun body through multiple groups of cameras.

[0013] In one embodiment of the present invention, based on the cleaning state of the flushing gun body, the flushing gun body is controlled to clean the heat transfer tube bundles on the cold side and the hot side at the same time, including: judging whether the position information of the spray gun mouth of the flushing gun body corresponds to the position between two adjacent heat transfer tube bundles; if the position information of the spray gun mouth of the flushing gun body corresponds to the position between two adjacent heat transfer tube bundles, the flushing gun body is controlled to clean the cold side and the hot side at the same time; if the position information of the spray gun mouth of the flushing gun body does not correspond to the position between two adjacent heat transfer tube bundles, the control continues to adjust the position of the spray gun mouth.

[0014] In one embodiment of the present invention, based on the cleaning state of the flushing gun body, the flushing gun body is controlled to clean the heat transfer tube bundles on the cold side and the hot side at the same time, including: judging whether the swing state and flushing water output information of the flushing gun body meet the preset swing state requirement and flushing water output requirement; if so, the flushing gun body is controlled to clean the cold side and the hot side at the same time according to the swing state and flushing water output information of the flushing gun body; if not, the flushing gun body is controlled to stop cleaning, and the flushing gun body is controlled to exit for maintenance.

[0015] In one embodiment of the present invention, the flushing gun body is controlled to clean the heat transfer tube bundles on the cold side and the hot side at the same time, including: controlling the two flushing gun bodies connected by the transmission belt and located on the cold side and the hot side to move synchronously to clean the heat transfer tube bundles in the cold side and the hot side, wherein one flushing gun body driven by the transmission belt moves in opposite directions to the other flushing gun body driven by the transmission belt.

[0016] The present invention also provides a control system applied to the aforementioned EPR reactor steam generator cleaning device, comprising:

[0017] A processing state monitoring unit, which monitors the cleaning state of a flushing gun body respectively arranged on the cold side and the hot side of the steam generator; and a cleaning control unit, which controls the flushing gun body to clean the heat transfer tube bundles on the cold side and the hot side simultaneously based on the cleaning state of the flushing gun body.

[0018] Beneficial effects of the present invention: The present invention proposes a cleaning device, method and control system suitable for EPR stack steam generators. The cleaning device, method and control system install the flushing gun body on the cold side and the hot side of the partition at the same time, drive the two flushing robots located on the cold side and the hot side to move by the transmission belt, and based on the collection of cleaning signals on both sides, control the two flushing gun bodies to move synchronously and correspond to the heat transfer tube bundles on the cold side and the hot side respectively, thereby achieving simultaneous cleaning of the cold side and the hot side of the evaporator, greatly improving the cleaning efficiency of the steam generator. Specifically, the entire cleaning process can be monitored in real time by using a camera and a distance sensor, which can not only ensure the cleaning effect, but also accurately determine the moving distance of the flushing gun body, thereby achieving full automation of the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of the cleaning device of the present invention.

[0020] Figure 2 It is a partial view of the steam generator of the present invention.

[0021] Figure 3 It is a structural diagram of a cleaning device in a preferred embodiment of the present invention.

[0022] Figure 4 Flow chart of the cleaning method of the present invention.

[0023] Figure 5 It is a structural diagram of the cleaning control system of the present invention.

[0024] Figure 6 It is a schematic diagram of the cleaning control process in a preferred embodiment of the present invention.

[0025] Reference numerals:

[0026] First guide rail 1; second guide rail 2; driving mechanism 3; flushing robot 4; steam generator 10; partition 101; hand hole 102; heat transfer tube bundle 103; transmission belt 31; driving motor 32; transmission wheel 33; hand hole flange 104; flushing gun body 41; camera 42; distance sensor 43; rotating motor 44; robot body 45; spray gun mouth 411. DETAILED DESCRIPTION

[0027] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0028] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0029] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0030] See also Figures 1 to 3 The present invention provides a cleaning device for an EPR reactor type steam generator, comprising: a first guide rail 1 and a second guide rail 2, the first guide rail 1 and the second guide rail 2 are respectively arranged on the cold side and the hot side of a partition 101 of a steam generator 10, and both ends of the first guide rail 1 and the second guide rail 2 are respectively installed on hand holes 102 at both ends of the steam generator 10; a driving mechanism 3, the driving mechanism 3 is respectively installed on the two hand holes 102; and a flushing robot 4, the two flushing robots 4 are respectively suspended on the first guide rail 1 and the second guide rail 2 and installed on the driving mechanism 3, so as to be driven by the driving mechanism 3 to clean the heat transfer tube bundles 103 on the cold side and the hot side at the same time.

[0031] It is not difficult to find from the above content that in the process of cleaning the secondary side tube sheet surface of the steam generator of a nuclear power plant, the first guide rail 1 and the second guide rail 2 are respectively installed on the hand hole 102 of the steam generator 10, and the first guide rail 1 is located on the cold side of the partition 101 of the steam generator 10, and the second guide rail 2 is located on the hot side of the partition 101 of the steam generator 10. Further, the flushing robot 4 is respectively suspended on the first guide rail 1 and the second guide rail 2. The driving mechanism 3 is then respectively installed on the two hand holes 102 of the steam generator 10. The flushing robots 4 on the cold side and the hot side are moved simultaneously by the driving mechanism 3 installed on the hand hole 102 to realize the cleaning of the heat transfer tube bundle 103 in the steam generator 10. Through the above cleaning method, the flushing robot 4 is used to clean the cold side and the hot side of the steam generator at the same time, which greatly improves the cleaning efficiency of the steam generator.

[0032] like Figures 1 to 3 The flushing robot 4 includes: a robot body 45, a flushing gun body 41, a camera 42 and a distance sensor 43. The flushing gun body 41, the camera 42 and the distance sensor 43 are all installed on the robot body 45. The camera 42 is used to monitor the water output of the flushing gun body 41 and the cleaning status of the heat transfer tube bundle 103. The distance sensor 43 is used to control the start of flushing when confirming that the flushing gun body 41 is facing the heat transfer tube bundle 103; a transmission belt 31, a driving motor 32 and a transmission wheel 33. The transmission wheel 33 is installed at the power output end of the driving motor 32. The transmission belt 31 passes through the transmission wheel 33. The robot body 45 is installed at both ends of the transmission belt 31 to drive the two flushing gun bodies 41 to move relative to each other, so as to perform up and down sweeping and flushing on the heat transfer tube bundle 103.

[0033] In one embodiment of the present invention, when the flushing robot 4 is used to clean the heat transfer tube bundle 103, the flushing gun body 41 is used to clean the gaps between the heat transfer tube bundles 103. In addition, during cleaning, the water discharge of the flushing gun body 41 and the cleaning of the heat transfer tube bundle 103 can be monitored by using the camera 42. When the flushing gun body 41 is facing the heat transfer tube bundle 103, the flushing gun body 41 can be controlled to flush the heat transfer tube bundle 103 by the distance sensor 43. Specifically, when the flushing gun head 41 is flushing, the connection between the rotating motor 44 on the flushing robot 4 and the flushing gun head 41 can drive the flushing gun head 41 to rotate back and forth, so that the flushing gun head 41 can eject water to sweep and flush the heat transfer tube bundle up and down. In this embodiment, the driving mechanism 3 can be a form of driving the driving belt 31 to move by using the driving wheel 33 on the driving motor 32, that is, the two flushing gun bodies 41 can be synchronously moved on the driving belt 31 by the driving wheel 33, and move in opposite directions on the cold side and the hot side relative to the partition 101. Of course, the driving mechanism 3 can also be other forms that can drive the two flushing gun bodies 41 to move synchronously on the cold side or the hot side. Furthermore, a hand hole flange 104 is also provided on the hand hole 102 of the steam generator 10.

[0034] See also Figure 4 The present invention also provides a cleaning method for the aforementioned EPR steam generator cleaning device, comprising the following steps:

[0035] Monitoring the cleaning status of the flushing gun bodies 41 respectively arranged in the cold side and the hot side of the steam generator 10;

[0036] Based on the cleaning state of the flushing gun body 41 , the flushing gun body 41 is controlled to clean the heat transfer tube bundles 103 on the cold side and the hot side at the same time.

[0037] In one embodiment of the present invention, during the cleaning process of the secondary tube sheet surface of the steam generator of a nuclear power plant, the cold side and the hot side of the steam generator 10 on both sides of the partition 101 are cleaned simultaneously. Specifically, during cleaning, the processing status of the flushing gun body 41 on the cold side and the hot side is monitored. That is, according to the cleaning status of the flushing gun body 41, the simultaneous cleaning of the cold side and the hot side is further achieved. Through the above-mentioned cleaning process, it is possible to achieve the simultaneous cleaning of the cold side and the hot side of the steam generator 10 by using the flushing gun body 41 according to the cleaning status, thereby greatly improving the cleaning efficiency of the steam generator 10.

[0038] Next, the cleaning status of the flushing gun body 41 respectively arranged in the cold side and the hot side of the steam generator 10 is monitored, including: monitoring the position information of the flushing gun body 41 , and monitoring the swing status and water discharge status information of the flushing gun body 41 .

[0039] In one embodiment of the present invention, when the flushing gun body 41 is used to perform hydraulic cleaning on the heat transfer tube bundle 103 above the tube sheet of the steam generator 10, the position information of the flushing gun body 41 is monitored, so that it can be determined whether the current position is suitable for cleaning according to the moving distance and position information of the flushing gun body 41, and the up and down sweeping flushing is started when the flushing gun body 41 is aimed at the inter-tube position between the heat transfer tube bundles 103. In addition, during hydraulic cleaning, the water discharge state of the flushing gun body 41 during flushing and the cleaning state of the heat transfer tube bundle 103 can be monitored, so that it can be determined whether the current flushing process meets the set requirements according to the flushing state, so as to facilitate timely adjustment and other maintenance of the flushing gun body 41.

[0040] Specifically, monitoring the position information of the flushing gun body 41 includes: collecting the moving distance of the flushing gun body 41 through a distance sensor, determining the position information of the flushing gun body 41, and judging whether the position information of the flushing gun body 41 corresponds to between two adjacent heat transfer tube bundles 103, if not, controlling to stop the flushing action of the flushing gun body 41, and if so, controlling to start the flushing action of the flushing gun body 41.

[0041] In one embodiment of the present invention, when determining the position of the flushing gun body 41, the distance sensor 43 can be used to realize real-time and accurate monitoring of the moving distance of the flushing gun body 41 along its corresponding guide rail during the flushing movement, and the real-time position information of the flushing gun body 41 can be accurately determined based on the position information of the flushing gun body 41 corresponding to the last monitored moment. For example, when the distance sensor 43 is aimed at a certain heat transfer tube bundle 103, the flushing gun body 41 corresponds to the inter-tube area between two adjacent heat transfer tube bundles 103. Of course, it can also be that when the distance sensor 43 is aimed at the inter-tube area between two adjacent heat transfer tube bundles 103, the corresponding flushing gun body 41 also corresponds to the inter-tube area between two adjacent heat transfer tube bundles 103. That is, the reference position of the distance sensor 43 can be set arbitrarily, and it is only necessary to realize that the flushing gun body 41 can be aimed at the inter-tube area between two adjacent heat transfer tube bundles 103.

[0042] In addition, monitoring the swing state and water outlet state information of the flushing gun body 41 includes: simultaneously monitoring the swing state information and flushing water outlet information of the flushing gun body 41 through multiple groups of cameras 42 .

[0043] In one embodiment of the present invention, when monitoring the flushing gun body 41, it is also necessary to further monitor the water outlet state information of the flushing gun body 41, the flushing water outlet information, and the cleaning condition information of the heat transfer tube bundle 103. Specifically, the flushing water outlet condition of the flushing gun body 41 can be monitored by using a camera 42, so as to further determine the cleaning effect corresponding to the current water outlet condition according to the water outlet condition per unit time. Similarly, the camera 42 can also monitor the cleaning conditions such as the gun body swing condition of the flushing gun body 41 to ensure the cleaning effect. More specifically, the camera 42 can be set to at least two, one of which is used to monitor the flushing water flow information of the cleaning gun body 41, and the other is used to monitor the gun body swing information of the flushing gun body 41.

[0044] Furthermore, based on the cleaning state of the flushing gun body 41, the flushing gun body 41 is controlled to clean the heat transfer tube bundles 103 on the cold side and the hot side at the same time, including: judging whether the position information of the spray gun mouth 411 of the flushing gun body 41 corresponds to the position between two adjacent heat transfer tube bundles 103; if the position information of the spray gun mouth 411 of the flushing gun body 41 corresponds to the position between two adjacent heat transfer tube bundles 103, the flushing gun body 41 is controlled to clean the cold side and the hot side at the same time; if the position information of the spray gun mouth 411 of the flushing gun body 41 does not correspond to the position between two adjacent heat transfer tube bundles 103, the control continues to adjust the position of the spray gun mouth 411.

[0045] In one embodiment of the present invention, when the control cleaning of the heat transfer tube bundle 103 is determined according to the position information of the flushing gun body 41, the position information of the spray gun port 411 of the flushing gun body 41 and the position relationship between the heat transfer tube bundles are first determined to determine whether the current position meets the flushing condition. Specifically, it is determined whether the positions of each nozzle of the flushing gun body 41 are located in the middle of two adjacent heat transfer tube bundles 103. Because only when each spray gun port 411 corresponds to the middle of two adjacent heat transfer tube bundles 103 along the moving direction of the flushing gun body 41, that is, the water sprayed through the spray gun port 411 can pass between the heat transfer tube bundles 103 to reach the deeper position of the heat transfer tube bundle 103, thereby ensuring the strength and accuracy of the inflation and the flushing effect. If the spray gun port 411 of the flushing gun body 41 does not correspond to the middle of two adjacent heat transfer tube bundles 103, the flushing gun body 41 can be controlled to be further driven to move continuously or reversely so that the flushing gun body 41 reaches a preset position. After reaching the preset accurate position, the spray gun port 411 is controlled to spray water to the middle position of two adjacent heat transfer tube bundles 103, thereby achieving simultaneous cleaning of multiple heat transfer tube bundles 103.

[0046] Next, based on the cleaning state of the flushing gun body 41, the flushing gun body 41 is controlled to clean the heat transfer tube bundles 103 on the cold side and the hot side at the same time, including: judging whether the swing state and flushing water output information of the flushing gun body 41 meet the preset swing state requirement and flushing water output requirement; if so, the flushing gun body 41 is controlled to clean the cold side and the hot side at the same time according to the swing state and flushing water output information of the flushing gun body 41; if not, the flushing gun body 41 is controlled to stop cleaning, and the flushing gun body 41 is controlled to exit for maintenance.

[0047] In one embodiment of the present invention, when determining whether to clean the cold side and the hot side of the steam generator 10 simultaneously based on the flushing water flow rate and the gun body swing of the flushing gun body 41, it is determined whether the current water flow sprayed from the spray gun port 411 of the flushing gun body 41 meets the flushing force by judging whether the flushing water flow rate of the flushing gun body 41 meets the standard. If not, the flushing gun body 41 will be controlled to withdraw from the cold side and hot side chambers, and the flushing gun body 41 will be removed for maintenance as appropriate. Similarly, it will be further determined whether the gun body swing of the current flushing gun body 41 meets the set swing requirements. If not, it is also necessary to withdraw the flushing gun body 41 from the cold side or the hot side, remove the flushing gun body 41 and perform maintenance to solve the problem of the flushing gun body 41 that affects the flushing efficiency, thereby ensuring the cleaning effect.

[0048] Preferably, the flushing gun body 41 is controlled to clean the heat transfer tube bundles 103 on the cold side and the hot side at the same time, including: controlling the two flushing gun bodies 41 connected by the transmission belt 31 and located on the cold side and the hot side respectively to move synchronously to clean the heat transfer tube bundles 103 on the cold side and the hot side, wherein one flushing gun body 41 driven by the transmission belt 31 moves in opposite directions to the other flushing gun body 41 driven by the transmission belt 31.

[0049] In one embodiment of the present invention, in the process of controlling the flushing gun body 41 to clean the cold side and the hot side simultaneously, in order to more conveniently complete the synchronous and simultaneous cleaning work, the two flushing gun bodies 41 on the cold side and the hot side are driven to work simultaneously by means of the transmission belt 31. That is, it can be realized that one flushing gun body 41 moves from the lower side of the heat transfer tube bundle on the hot side to the upper side, and the other flushing gun body 41 moves from the upper side of the heat transfer tube bundle 103 on the cold side to the lower side. In addition, it is realized that the two flushing gun bodies 41 are driven by one transmission belt 31 to move relatively on the cold side and the hot side respectively, and the synchronous and simultaneous cleaning of the cold side and the hot side is realized, and the automation of the cleaning process of simultaneously cleaning the heat transfer tube bundles 103 on the cold side and the hot side is also realized.

[0050] See also Figure 1In a preferred embodiment, the above cleaning method is used to simultaneously install rails on the cold side and the hot side of the steam generator 10 to simultaneously and efficiently clean both sides of the steam generator 10. The flushing gun body 41 can be suspended on the first rail 1 and the second rail 2, and the flushing gun body 41 on the cold side and the hot side is driven by the transmission belt 31 to move relatively synchronously, thereby realizing the simultaneous cleaning of the heat transfer tube bundles 103 on the cold side and the hot side of the evaporator 10. Specifically, the spray gun mouth 411 is used on the cleaning gun body 41 to realize the flushing treatment of the middle area of ​​the adjacent heat transfer tube bundles 103. In addition, by using the camera 42 and the distance sensor 43, the cleaning process can be monitored in real time to ensure the cleaning effect, and the moving distance of the gun body can be accurately controlled to realize the full automation of the cleaning process. The flushing gun body 41 is installed on the cold side and the hot side at the same time, which greatly improves the cleaning efficiency of the steam generator 10. Specifically, two guide rails are designed between the heat transfer tube bundle 103 on the cold side and the heat transfer tube bundle 103 on the hot side, and two flushing gun bodies 41 are respectively suspended on the two guide rails, namely the first guide rail 1 and the second guide rail 2. Moreover, the two flushing gun bodies 41 are respectively located on both sides of the guide rails to achieve synchronous relative movement to synchronously clean the heat transfer tube bundles 103 on the cold side and the hot side.

[0051] like Figure 5 As shown, the present invention also provides a control system applied to the aforementioned EPR reactor type steam generator cleaning device, comprising:

[0052] a process status monitoring unit that monitors the cleaning status of the flushing gun bodies 41 respectively disposed in the cold side and the hot side of the steam generator 10; and

[0053] A cleaning control unit controls the flushing gun body 41 to clean the heat transfer tube bundles 103 on the cold side and the hot side simultaneously based on the cleaning state of the flushing gun body 41 .

[0054] In one embodiment of the present invention, in the control system for efficient cleaning of the steam generator 10 of the present invention, the signal acquisition unit is used to collect the cleaning processing signals of the cold side and the hot side of the steam generator 10. And the processing state monitoring unit is used to start the flushing gun body 41 according to the processing signal to clean the heat transfer tube bundles 103 on the cold side and the hot side, and the processing state signal of the flushing gun body 41 during cleaning is monitored. And the cleaning control unit is used to control the adjustment or maintenance of the flushing gun body 41 when the cleaning state does not meet the requirements. When the cleaning state meets the requirements, the flushing gun body 41 is controlled to simultaneously and synchronously perform fully automated cleaning processing on the cold side and the hot side of the steam generator 10, greatly improving the cleaning efficiency of the steam generator.

[0055] See also Figure 6In the process of controlling the cleaning of the EPR steam generator by the cleaning control system of the present invention, the cleaning status of the flushing gun body 41 on the cold side and the hot side of the steam generator 10 is obtained by the processing status monitoring unit, and the cleaning control unit is used to determine whether to perform the cleaning action according to the obtained cleaning status of the flushing gun body 41. When it is determined to perform the cleaning, the flushing gun body 41 at both ends is driven to move synchronously by controlling the transmission belt 31 to complete the cleaning of the heat transfer tube bundle 103 on the cold side and the hot side at the same time. If it cannot be performed, the cleaning action is controlled to end, and the flushing gun body 41 is withdrawn for adjustment.

[0056] In summary, the present invention utilizes the installation of the flushing gun body 41 on both the cold side and the hot side of the partition 101, so as to realize the movement of the two opposite flushing gun bodies 41 located on the cold side and the hot side through the transmission belt 31, and flush the heat transfer tube bundle 103 located on the cold side and the hot side of the steam generator 10, thereby realizing the simultaneous cleaning of the cold side and the hot side by the flushing gun body 41, and greatly improving the cleaning efficiency of the steam generator 10. Specifically, the whole cleaning process can be monitored in real time by using the camera 42 and the distance sensor 43, which can not only ensure the cleaning effect, but also accurately determine the moving distance of the flushing gun body 41, and realize the full automation of the cleaning process. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has a high industrial utilization value.

[0057] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A cleaning device for EPR steam generator, characterized in that: include: A first guide rail (1) and a second guide rail (2), wherein the first guide rail (1) and the second guide rail (2) are respectively arranged on the cold side and the hot side of a partition (101) of a steam generator (10), and both ends of the first guide rail (1) and the second guide rail (2) are respectively mounted on hand holes (102) at both ends of the steam generator (10); A driving mechanism (3), wherein the driving mechanism (3) is respectively mounted on the two hand holes (102); as well as Flushing robots (4), wherein two flushing robots (4) are respectively suspended on the first guide rail (1) and the second guide rail (2) and installed on the driving mechanism (3) so as to be driven by the driving mechanism (3) to clean the heat transfer tube bundles (103) on the cold side and the hot side respectively at the same time.

2. The cleaning device for EPR steam generator according to claim 1 is characterized in that: The flushing robot (4) comprises: A robot body (45), a flushing gun body (41), a camera (42) and a distance sensor (43); the flushing gun body (41), the camera (42) and the distance sensor (43) are all installed on the robot body (45); the camera (42) is used to monitor the water discharge of the flushing gun body (41) and the cleaning condition of the heat transfer tube bundle (103); the distance sensor (43) is used to control the start of flushing when confirming that the flushing gun body (41) is facing the heat transfer tube bundle (103); The driving mechanism (3) comprises: A transmission belt (31), a drive motor (32) and a transmission wheel (33), wherein the transmission wheel (33) is installed at the power output end of the drive motor (32), the transmission belt (31) passes through the transmission wheel (33), and the robot body (45) is installed at both ends of the transmission belt (31) to drive the two flushing gun bodies (41) to move relative to each other, so as to perform vertical sweeping and flushing on the heat transfer tube bundle (103).

3. A cleaning method for an EPR steam generator cleaning device according to any one of claims 1 to 2, characterized in that: The steps include: Monitoring the cleaning status of flushing gun bodies (41) respectively arranged in the cold side and the hot side of the steam generator (10); Based on the cleaning state of the flushing gun body (41), the flushing gun body (41) is controlled to clean the heat transfer tube bundles (103) on the cold side and the hot side at the same time.

4. The cleaning method according to claim 3, characterized in that: Monitoring the cleaning status of a flushing gun body (41) respectively arranged in the cold side and the hot side of a steam generator (10), comprising: The position information of the flushing gun body (41) is monitored, as well as the swing state and water discharge state information of the flushing gun body (41).

5. The cleaning method according to claim 4, characterized in that: Monitoring the position information of the flushing gun body (41) includes: The moving distance of the flushing gun body (41) is collected by a distance sensor to determine the position information of the flushing gun body (41), and it is judged whether the position information of the flushing gun body (41) corresponds to between two adjacent heat transfer tube bundles (103). If not, the flushing action of the flushing gun body (41) is controlled to be stopped; if so, the flushing action of the flushing gun body (41) is controlled to be started.

6. The cleaning method according to claim 4, characterized in that: Monitoring the swing state and water discharge state information of the flushing gun body (41) includes: The swing state information and flushing water output information of the flushing gun body (41) are obtained by simultaneously monitoring multiple groups of cameras (42).

7. The cleaning method according to claim 5, characterized in that: Based on the cleaning state of the flushing gun body (41), controlling the flushing gun body (41) to simultaneously clean the heat transfer tube bundles (103) on the cold side and the hot side comprises: It is determined whether the position information of the spray gun port (411) of the flushing gun body (41) corresponds to the position between two adjacent heat transfer tube bundles (103); if the position information of the spray gun port (411) of the flushing gun body (41) corresponds to the position between two adjacent heat transfer tube bundles (103), the flushing gun body (41) is controlled to clean the cold side and the hot side simultaneously; if the position information of the spray gun port (411) of the flushing gun body (41) does not correspond to the position between two adjacent heat transfer tube bundles (103), the position of the spray gun port (411) is controlled to continue to be adjusted.

8. The cleaning method according to claim 6, characterized in that: Based on the cleaning state of the flushing gun body (41), controlling the flushing gun body (41) to simultaneously clean the heat transfer tube bundles (103) on the cold side and the hot side comprises: It is determined whether the swing state and flushing water output information of the flushing gun body (41) meet the preset swing state requirements and flushing water output requirements. If so, the flushing gun body (41) is controlled to clean the cold side and the hot side simultaneously according to the swing state and flushing water output information of the flushing gun body (41). If not, the flushing gun body (41) is controlled to stop cleaning and the flushing gun body (41) is controlled to withdraw for maintenance.

9. The cleaning method according to claim 3, characterized in that: Controlling the flushing gun body (41) to clean the heat transfer tube bundles (103) on the cold side and the hot side simultaneously comprises: Two flushing gun bodies (41) connected by a control belt (31) and located at the cold side and the hot side, respectively, move synchronously to clean the heat transfer tube bundles (103) in the cold side and the hot side, wherein one flushing gun body (41) driven by the drive belt (31) moves in opposite directions to the other flushing gun body (41) driven by the drive belt (31).

10. A control system for an EPR steam generator cleaning device according to any one of claims 1-2, characterized in that: include: A processing state monitoring unit, the processing state monitoring unit monitoring the cleaning state of a flushing gun body (41) respectively arranged in the cold side and the hot side of the steam generator (10); as well as A cleaning control unit, which controls the flushing gun body (41) to clean the heat transfer tube bundles (103) on the cold side and the hot side simultaneously based on the cleaning state of the flushing gun body (41).

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